Abstract
This paper introduces a systematic approach to determine the parameter μ∗ that is central to the design of passivity-based μ-tip controllers for flexible robotic manipulators. The importance of this parameter lies in the fact that implementing μ-tip control with a value of μ larger than μ∗ will lead to a passivity violation and potential instability of the closed-loop system. In the literature, μ∗ has been solved for analytically when dealing with very simple systems, while intuition is relied upon for more realistic systems. The μ-tip formulations presented in this paper systematically solve for μ∗ using convex optimization techniques. A robust formulation of the proposed method is presented, which can explicitly account for model uncertainty and nonlinearity through the use of integral quadratic constraints (IQCs).
Original language | English (US) |
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Title of host publication | 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 327-332 |
Number of pages | 6 |
ISBN (Electronic) | 9798350335446 |
DOIs | |
State | Published - 2023 |
Event | 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 - Bridgetown, Barbados Duration: Aug 16 2023 → Aug 18 2023 |
Publication series
Name | 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 |
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Conference
Conference | 2023 IEEE Conference on Control Technology and Applications, CCTA 2023 |
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Country/Territory | Barbados |
City | Bridgetown |
Period | 8/16/23 → 8/18/23 |
Bibliographical note
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