In this paper, an optimal control problem for uncertain bilinear systems is formulated via a guaranteed cost approach and then applied to the design of a stabilizing controller for a robot arm actuated by Pneumatic Artificial Muscles (PAMs). The results show that the contributed methodology is suitable for efficiently designing control systems which can match the requirements both on safety and on energy efficiency for PAMs-driven robots during human-robot interactions. The performances of the state-feedback control system are evaluated on the basis of some numerical simulations.
Optimal guaranteed cost control of a biomimetic robot arm / Amato, Francesco; Colacino, Domenico; Cosentino, Carlo; Merola, Alessio. - (2012), pp. 93-99. ( 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 Rome, ITALY 24-27 giugno 2012) [10.1109/BioRob.2012.6290275].
Optimal guaranteed cost control of a biomimetic robot arm
Amato, Francesco;
2012
Abstract
In this paper, an optimal control problem for uncertain bilinear systems is formulated via a guaranteed cost approach and then applied to the design of a stabilizing controller for a robot arm actuated by Pneumatic Artificial Muscles (PAMs). The results show that the contributed methodology is suitable for efficiently designing control systems which can match the requirements both on safety and on energy efficiency for PAMs-driven robots during human-robot interactions. The performances of the state-feedback control system are evaluated on the basis of some numerical simulations.| File | Dimensione | Formato | |
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Descrizione: Human-robot interaction, safe robot, pneumatic.
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