Titre :

Trajectory Tracking Control Design for Large-Scale Linear Dynamical Systems With Applications to Soft Robotics

Auteur(s) :

Thieffry, Maxime [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Kruszewski, Alexandre [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Guerra, Thierry-Marie [Auteur]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]

Titre de la revue :

IEEE Transactions on Control Systems Technology

Pagination :

556-566

Éditeur :

Institute of Electrical and Electronics Engineers

Date de publication :

2021-03

ISSN :

1063-6536

Mot(s)-clé(s) en anglais :

robust control
soft robotics
Large-scale systems
model-order reduction
Trajectory tracking
Stability analysis

Discipline(s) HAL :

Sciences de l'ingénieur [physics]/Automatique / Robotique
Informatique [cs]/Automatique

Résumé en anglais : [en]

This article presents new results to control process modeled through linear large-scale systems. Numerical methods are widely used to model physical systems, and the finite-element method is one of the most common methods. ...
Lire la suite >This article presents new results to control process modeled through linear large-scale systems. Numerical methods are widely used to model physical systems, and the finite-element method is one of the most common methods. However, for this method to be precise, it requires a precise spatial mesh of the process. Large-scale dynamical systems arise from this spatial discretization. We propose a methodology to design an observer-based output feedback controller. First, a model reduction step is used to get a system of acceptable dimension. Based on this low-order system, two linear matrix inequality problems provide us, respectively, with the observer and controller gains. In both the cases, model and reduction errors are taken into account in the computations. This provides robustness with respect to the reduction step and guarantees the stability of the original large-scale system. Finally, the proposed method is applied to a physical setup-a soft robotics platform-to show its feasibility.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Projet ANR :

COntrol and Modelling for sOft RObots in Surgery

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL