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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Bibliographische Detailangaben

Hauptverfasser:	van Heusden, K, Karimi, A, Bonvin, D, den Hamer, Arjen, Steinbuch, M
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Biological system modeling Control systems Finite impulse response filter Frequency control Robots Stability criteria
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