NDLI: Nonlinear robust internal loop compensator for robust control of robotic manipulators

Content Provider	IEEE Xplore Digital Library
Author	Min Jun Kim Seongsik Park Wan Kyun Chung
Copyright Year	2012
Description	Author affiliation: Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science and Technology (POSTECH), 790-784, Gyung-buk, Korea (Min Jun Kim; Seongsik Park; Wan Kyun Chung)
Abstract	Robustness is a very classical issue in the robotics field. Disturbance observer (DOB) can be a good choice to improve the robustness of the system. It is easy to implement and shows successful results. DOB, however, cannot bring nonlinearity of the system into the formulation. To overcome this problem, nonlinear robust internal loop compensator (NRIC) is proposed in this paper. NRIC is attached to a existing controller and improves robustness of the system like DOB. NRIC makes an auxiliary input that compensates the difference between the output from the real plant and that from the nominal model. An auxiliary input is designed in a nonlinear ℋ∞ optimal control framework and the resulting input is given as a simple PID form. The stability of a real plant is guaranteed if a controller is designed as an exponentially stable one (a sufficient condition). The benefit of NRIC is that it is easy to implement and it effectively brings nonlinearities of the system into the formulation successfully. The performance of NRIC is verified through the simulation and experiments.
Starting Page	2742
Ending Page	2748
File Size	727002
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386207
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Robots Stability analysis Observers Mathematical model Joints Optimal control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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