Title :

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

Author(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 ]

Journal title :

IEEE Transactions on Control Systems Technology

Pages :

556-566

Publisher :

Institute of Electrical and Electronics Engineers

Publication date :

2021-03

ISSN :

1063-6536

English keyword(s) :

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

HAL domain(s) :

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

English abstract : [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. ...
Show more >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.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

ANR Project :

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