Benchmark problem : nonlinear control of a 3-DOF robotic manipulator

Publikationstyp
Conference Paper
Date Issued
2013
Sprache
English
Author(s)
Hoffmann, Christian  
Hashemi, Seyed Mahdi 
Abbas, Hossam Seddik  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/7492
Start Page
5534
End Page
5539
Article Number
6760761
Citation
2013 IEEE 52nd Annual Conference on Decision and Control : (CDC 2013) ; Firenze, Italy, 10 - 13 December 2013 / [IEEE Control Systems Society]. - Piscataway, NJ : IEEE Service Center. - Vol. 8 (2013), Art.-Nr. 6760761 i.e. Seite 5534-5539
Contribution to Conference
52nd IEEE Conference on Decision and Control, CDC 2013  
Publisher DOI
10.1109/CDC.2013.6760761
Scopus ID
2-s2.0-84902352160
Publisher
IEEE
This document proposes the nonlinear control of an industrial three-degrees-of-freedom (3-DOF) robotic manipulator as a benchmark problem for controller synthesis methods, that are applicable to complex plants, but can provide implementation with low complexity. Full details on the nonlinear model of the industrial robotic manipulator Thermo CRS A465 are provided. Furthermore, a solution is presented by considering linear parameter-varying (LPV) controller synthesis based on a reduced parameter set. Stability and performance guarantees are rendered void as the plant's parameter dependency is first approximated by means of principle component analysis. The guarantees are recovered by tools which have previously been reported.
DDC Class
600: Technik
620: Ingenieurwissenschaften