{"title":"拟人腿的简化鲁棒控制","authors":"J. Kardoš","doi":"10.1109/PC.2013.6581396","DOIUrl":null,"url":null,"abstract":"The paper presents a robust command following position control of a three-DOF leg in the joint space. Due to specific features of both the robust control and the motion control system in general, a simplification of the control via the system decomposition to a double integrator plant for each degree of freedom is provided. It is shown, that the desired accuracy of the command tracking is assured despite the presence of signal disturbances and the parameter uncertainty, the limitation of the joint velocities and accelerations as well as the driving torque boundary. Matlab simulation illustrates the expected performance of the control algorithm.","PeriodicalId":232418,"journal":{"name":"2013 International Conference on Process Control (PC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Simplified robust control of an anthropomorphic leg\",\"authors\":\"J. Kardoš\",\"doi\":\"10.1109/PC.2013.6581396\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper presents a robust command following position control of a three-DOF leg in the joint space. Due to specific features of both the robust control and the motion control system in general, a simplification of the control via the system decomposition to a double integrator plant for each degree of freedom is provided. It is shown, that the desired accuracy of the command tracking is assured despite the presence of signal disturbances and the parameter uncertainty, the limitation of the joint velocities and accelerations as well as the driving torque boundary. Matlab simulation illustrates the expected performance of the control algorithm.\",\"PeriodicalId\":232418,\"journal\":{\"name\":\"2013 International Conference on Process Control (PC)\",\"volume\":\"7 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-06-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 International Conference on Process Control (PC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/PC.2013.6581396\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 International Conference on Process Control (PC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/PC.2013.6581396","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Simplified robust control of an anthropomorphic leg
The paper presents a robust command following position control of a three-DOF leg in the joint space. Due to specific features of both the robust control and the motion control system in general, a simplification of the control via the system decomposition to a double integrator plant for each degree of freedom is provided. It is shown, that the desired accuracy of the command tracking is assured despite the presence of signal disturbances and the parameter uncertainty, the limitation of the joint velocities and accelerations as well as the driving torque boundary. Matlab simulation illustrates the expected performance of the control algorithm.
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