Hard and Soft Sub-Time-Optimal Robust Controllers

Piotr Kulczycki, Rafal Wisniewski, Piotr Kowalski, Karol Krawiec

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

Resumé

In many applicational tasks of motion control – fundamental for research in robotics – problems associated with uncertain and/or varying load (a mass or moment of inertia) can present a substantial difficulty during the synthesis of practical controlling systems. The random concept, where the load has been treated as a stochastic process, is presented in this paper. As a result, through a generalization of the classic switching curve occurring in the time-optimal approach, two control structures have been investigated: the hard, defined on the basis of the rules of the statistical decision theory, and also the soft, which additionally allows the elimination of rapid changes in control values.
The methodology proposed here may be easily adopted for other elements commonly found in mechanical systems, e.g. parameters of drive or motion resistance, giving the sub-time-optimal controlling structures that provide many advantages, especially with respect to robustness.
OriginalsprogEngelsk
BogserieI F A C Workshop Series
Sider (fra-til)689-6994
Antal sider6
ISSN1474-6670
StatusUdgivet - 2010
Begivenhed9th IFAC Symposium on Robot Control (SYROCO2009) - Gifu, Japan
Varighed: 6 sep. 200912 sep. 2009

Konference

Konference9th IFAC Symposium on Robot Control (SYROCO2009)
LandJapan
ByGifu
Periode06/09/200912/09/2009

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Controllers
Decision theory
Motion control
Random processes
Robotics

Emneord

  • control

Citer dette

Kulczycki, P., Wisniewski, R., Kowalski, P., & Krawiec, K. (2010). Hard and Soft Sub-Time-Optimal Robust Controllers. I F A C Workshop Series, 689-6994.
Kulczycki, Piotr ; Wisniewski, Rafal ; Kowalski, Piotr ; Krawiec, Karol. / Hard and Soft Sub-Time-Optimal Robust Controllers. I: I F A C Workshop Series. 2010 ; s. 689-6994.
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abstract = "In many applicational tasks of motion control – fundamental for research in robotics – problems associated with uncertain and/or varying load (a mass or moment of inertia) can present a substantial difficulty during the synthesis of practical controlling systems. The random concept, where the load has been treated as a stochastic process, is presented in this paper. As a result, through a generalization of the classic switching curve occurring in the time-optimal approach, two control structures have been investigated: the hard, defined on the basis of the rules of the statistical decision theory, and also the soft, which additionally allows the elimination of rapid changes in control values.The methodology proposed here may be easily adopted for other elements commonly found in mechanical systems, e.g. parameters of drive or motion resistance, giving the sub-time-optimal controlling structures that provide many advantages, especially with respect to robustness.",
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Kulczycki, P, Wisniewski, R, Kowalski, P & Krawiec, K 2010, 'Hard and Soft Sub-Time-Optimal Robust Controllers', I F A C Workshop Series, s. 689-6994.

Hard and Soft Sub-Time-Optimal Robust Controllers. / Kulczycki, Piotr; Wisniewski, Rafal; Kowalski, Piotr; Krawiec, Karol.

I: I F A C Workshop Series, 2010, s. 689-6994.

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

TY - GEN

T1 - Hard and Soft Sub-Time-Optimal Robust Controllers

AU - Kulczycki, Piotr

AU - Wisniewski, Rafal

AU - Kowalski, Piotr

AU - Krawiec, Karol

PY - 2010

Y1 - 2010

N2 - In many applicational tasks of motion control – fundamental for research in robotics – problems associated with uncertain and/or varying load (a mass or moment of inertia) can present a substantial difficulty during the synthesis of practical controlling systems. The random concept, where the load has been treated as a stochastic process, is presented in this paper. As a result, through a generalization of the classic switching curve occurring in the time-optimal approach, two control structures have been investigated: the hard, defined on the basis of the rules of the statistical decision theory, and also the soft, which additionally allows the elimination of rapid changes in control values.The methodology proposed here may be easily adopted for other elements commonly found in mechanical systems, e.g. parameters of drive or motion resistance, giving the sub-time-optimal controlling structures that provide many advantages, especially with respect to robustness.

AB - In many applicational tasks of motion control – fundamental for research in robotics – problems associated with uncertain and/or varying load (a mass or moment of inertia) can present a substantial difficulty during the synthesis of practical controlling systems. The random concept, where the load has been treated as a stochastic process, is presented in this paper. As a result, through a generalization of the classic switching curve occurring in the time-optimal approach, two control structures have been investigated: the hard, defined on the basis of the rules of the statistical decision theory, and also the soft, which additionally allows the elimination of rapid changes in control values.The methodology proposed here may be easily adopted for other elements commonly found in mechanical systems, e.g. parameters of drive or motion resistance, giving the sub-time-optimal controlling structures that provide many advantages, especially with respect to robustness.

KW - control

KW - optimal strategies

KW - kontrol

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EP - 6994

JO - I F A C Workshop Series

JF - I F A C Workshop Series

SN - 1474-6670

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