In this paper, an optimal control problem for uncertain bilinear systems is formulated via a guaranteed cost approach and then applied to the design of a stabilizing controller for a robot arm actuated by Pneumatic Artificial Muscles (PAMs). The results show that the contributed methodology is suitable for efficiently designing control systems which can match the requirements both on safety and on energy efficiency for PAMs-driven robots during human-robot interactions. The performances of the state-feedback control system are evaluated on the basis of some numerical simulations.
Optimal Guaranteed Cost Control of a Biomimetic Robot Arm
MEROLA A;Cosentino C
2012-01-01
Abstract
In this paper, an optimal control problem for uncertain bilinear systems is formulated via a guaranteed cost approach and then applied to the design of a stabilizing controller for a robot arm actuated by Pneumatic Artificial Muscles (PAMs). The results show that the contributed methodology is suitable for efficiently designing control systems which can match the requirements both on safety and on energy efficiency for PAMs-driven robots during human-robot interactions. The performances of the state-feedback control system are evaluated on the basis of some numerical simulations.File in questo prodotto:
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