Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 |
| Place of Publication | Seville, Spain |
| Pages | 4379-4384 |
| Number of pages | 6 |
| Publication status | Published - 2005 |
| Event | 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain Duration: 12 Dec 2005 → 15 Dec 2005 |
Abstract
In this paper, we propose two nonlinear discrete-time control approaches for underactuated manipulators operating in the horizontal plane which are equipped with passive joints. The first control approach is based on an extended linearization. It can be applied to different kinds of underactuated systems such as a cart-pole system or a highly underactuated manipulator. A manipulator is called a highly underactuated manipulator if it has no braking mechanisms and more passive than active joints. However, the control approach mentioned above performs well only if the errors are sufficiently small. Therefore, a discrete-time feedback controller based on nonlinear online optimization is proposed also to counteract large trajectory deviations. In order to reduce the computation time, we present an initialization strategy of the nonlinear online optimization considering the relation between both controllers. Experimental results of both controller are reported to demonstrate advantages and drawbacks.
ASJC Scopus subject areas
- Engineering(all)
- General Engineering
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Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. Seville, Spain, 2005. p. 4379-4384 1582851.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Nonlinear discrete-time control approaches for underactuated manipulators
AU - Weidemann, Dirk
AU - Scherm, Norbert
AU - Heimann, Bodo
AU - Abdellatif, Houssem
PY - 2005
Y1 - 2005
N2 - In this paper, we propose two nonlinear discrete-time control approaches for underactuated manipulators operating in the horizontal plane which are equipped with passive joints. The first control approach is based on an extended linearization. It can be applied to different kinds of underactuated systems such as a cart-pole system or a highly underactuated manipulator. A manipulator is called a highly underactuated manipulator if it has no braking mechanisms and more passive than active joints. However, the control approach mentioned above performs well only if the errors are sufficiently small. Therefore, a discrete-time feedback controller based on nonlinear online optimization is proposed also to counteract large trajectory deviations. In order to reduce the computation time, we present an initialization strategy of the nonlinear online optimization considering the relation between both controllers. Experimental results of both controller are reported to demonstrate advantages and drawbacks.
AB - In this paper, we propose two nonlinear discrete-time control approaches for underactuated manipulators operating in the horizontal plane which are equipped with passive joints. The first control approach is based on an extended linearization. It can be applied to different kinds of underactuated systems such as a cart-pole system or a highly underactuated manipulator. A manipulator is called a highly underactuated manipulator if it has no braking mechanisms and more passive than active joints. However, the control approach mentioned above performs well only if the errors are sufficiently small. Therefore, a discrete-time feedback controller based on nonlinear online optimization is proposed also to counteract large trajectory deviations. In order to reduce the computation time, we present an initialization strategy of the nonlinear online optimization considering the relation between both controllers. Experimental results of both controller are reported to demonstrate advantages and drawbacks.
UR - http://www.scopus.com/inward/record.url?scp=33847227300&partnerID=8YFLogxK
U2 - 10.1109/CDC.2005.1582851
DO - 10.1109/CDC.2005.1582851
M3 - Conference contribution
AN - SCOPUS:33847227300
SN - 0780395689
SN - 9780780395688
SP - 4379
EP - 4384
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CY - Seville, Spain
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -