文章基本信息

标题：Robust H ∞ control of a tendon–driven elastic continuum mechanism via a systematic description of nonlinearities
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作者：Anton Shu ; Bastian Deutschmann ; Alexander Dietrich 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：386-392
DOI：10.1016/j.ifacol.2018.11.572
语种：English
出版社：Elsevier
摘要：AbstractThis work treats the pose control of an underactuated elastic continuum mechanism via a linearH∞approach. To incorporate the nonlinearities into the linear design method, a systematic framework is proposed that describes the nonlinear part of the system as uncertainty in a parameter-affine state-space description. With the established description of the nonlinear system, a robustH∞controller is synthesized applying the structured singular value framework. The designed controller is evaluated in simulation and hardware experiments on the Elastic Continuum Mechanism (ECM) used as a robotic neck of DLR’s humanoid robot David. The robust controller designed under consideration of the systematic treatment of nonlinearities is able to stabilize the system for a reference step with negligible inaccuracy which is superior to a comparable conventional mixed synthesisH∞controller or a simplePDdesign.
关键词：KeywordsRobust Robot ControlHumanoids RobotsH∞controlUnderactuated Systems