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Control Performance of Robots

Authors: [tex2html_wrap4336]F. Wredenhagen, P.R. Bélanger

Investigator username: belanger

Category: robotics

Subcategory: identification and control

The thrust of this project was to study the limitations to the performance of robot control systems, in a limited region about a target area. Actuator effects were studied through "cheap control" theory, for high actuator capacity. State estimation was studied for the limiting case of low measurement noise. The variation of performance vs uncertainty was examined for parametric uncertainty. A new piecewise-linear control law was developed that switches between LQ laws, increasing the gain near the origin to take full advantage of the available control.