Hard and Soft Sub-Time-Optimal Robust Controllers

Piotr Kulczycki, Rafal Wisniewski, Piotr Kowalski, Karol Krawiec

Research output: Contribution to journalConference article in JournalResearchpeer-review

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.
Original languageEnglish
Book seriesI F A C Workshop Series
Pages (from-to)689-6994
Number of pages6
ISSN1474-6670
Publication statusPublished - 2010
Event9th IFAC Symposium on Robot Control (SYROCO2009) - Gifu, Japan
Duration: 6 Sep 200912 Sep 2009

Conference

Conference9th IFAC Symposium on Robot Control (SYROCO2009)
CountryJapan
CityGifu
Period06/09/200912/09/2009

Fingerprint

Controllers
Decision theory
Motion control
Random processes
Robotics

Keywords

  • optimal strategies
  • kontrol

Cite this

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. In: I F A C Workshop Series. 2010 ; pp. 689-6994.
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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, pp. 689-6994.

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

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

Research output: Contribution to journalConference article in JournalResearchpeer-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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