Control design for discrete-time stochastic nonlinear processes with a nonquadratic performance objective

2004 ◽  
Author(s):  
M.G. Forbes ◽  
J.F. Forbes ◽  
M. Guay
Keyword(s):  
Discrete Time ◽  
Control Design ◽  
Nonlinear Processes ◽  
Performance Objective

Discrete-Time LQR and H 2 Damping Control of Flexible Payloads Using a Robot Manipulator With a Wrist-Mounted Force/Torque Sensor

2000 ◽  
Author(s):  
Chunhao Joseph Lee ◽  
Constantinos Mavroidis
Keyword(s):  
Optimal Control ◽  
Discrete Time ◽  
Robot Manipulator ◽  
Control Design ◽  
Degree Of Freedom ◽  
Flexible Beam ◽  
Torque Sensor ◽  
Damping Control ◽  
Control Feedback ◽  
Six Degree Of Freedom

Abstract This paper presents robust and optimal control methods to suppress vibrations of flexible payloads carried by robotic systems. A new improved estimator in discrete-time H2 optimal control design based on the Kalman Filter predictor form is developed here. Two control design methods using state-space models, LQR and H2 Optimal Design, in discrete-time domain are applied and compared. The manipulator joint encoders and the wrist-mounted six-degree-of-freedom force/torque sensor provide the control feedback. A complete dynamic model of the robot/payload system is taken into account to synthesize the controllers. Experimental verifications of both methods are performed using a Mitsubishi five-degree-of-freedom robot manipulator that carries a flexible beam. It is shown that both methods damp out the vibrations of the payload very effectively.

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