Robust Noncolocated μ-Tip Rate Control of Flexible Robotic Manipulators with Uncertain Dynamics

Robert D. Halverson, Sze Kwan Cheah, Ryan J. Caverly

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publication2023 IEEE Conference on Control Technology and Applications, CCTA 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages327-332
Number of pages6
ISBN (Electronic)9798350335446
DOIs
StatePublished - 2023
Event2023 IEEE Conference on Control Technology and Applications, CCTA 2023 - Bridgetown, Barbados
Duration: Aug 16 2023Aug 18 2023

Publication series

Name2023 IEEE Conference on Control Technology and Applications, CCTA 2023

Conference

Conference2023 IEEE Conference on Control Technology and Applications, CCTA 2023
Country/TerritoryBarbados
CityBridgetown
Period8/16/238/18/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

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