Non-iterative data-driven controller tuning with guaranteed stability: Application to direct-drive pick-and-place robot

Non-iterative data-driven controller tuning with guaranteed stability: Application to direct-drive pick-and-place robot

This paper illustrates the practical application of non-iterative correlation-based tuning with guaranteed stability. In this method, a sufficient condition for closed-loop stability is defined as the H ∞ -norm of a particular error function. This norm is then estimated using data from one closed-lo...

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Hauptverfasser: van Heusden, K, Karimi, A, Bonvin, D, den Hamer, Arjen, Steinbuch, M
Format: Tagungsbericht
Sprache:eng
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Biological system modeling
Control systems
Finite impulse response filter
Frequency control
Robots
Stability criteria
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creator van Heusden, K
Karimi, A
Bonvin, D
den Hamer, Arjen
Steinbuch, M
description This paper illustrates the practical application of non-iterative correlation-based tuning with guaranteed stability. In this method, a sufficient condition for closed-loop stability is defined as the H ∞ -norm of a particular error function. This norm is then estimated using data from one closed-loop experiment. The method is applied to a pick-and-place robot. It is shown that the proposed constraints for stability are effective without being overly conservative. Furthermore, it is shown how the method can be used to systematically design low-order controllers.
doi_str_mv 10.1109/CCA.2010.5611118
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subjects Biological system modeling
Control systems
Finite impulse response filter
Frequency control
Robots
Stability criteria
title Non-iterative data-driven controller tuning with guaranteed stability: Application to direct-drive pick-and-place robot
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