Passivity-based control design for a continuum robotic manipulator with disturbances

Title: Passivity-based control design for a continuum robotic manipulator with disturbances
Creator: Schule, Johannes; Donaire, Alejandro; Sawodny, Oliver
Relation: 2020 IEEE/SICE International Symposium on System Integration. Proceedings of the 2020 IEEE/SICE International Symposium on System Integration (Honolulu, Hawaii 12-15 January, 2020) p. 144-149
Publisher Link: http://dx.doi.org/10.1109/SII46433.2020.9026249
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2020
Description: In this paper we design a robust passivity-based controller for a continuum robot manipulator using the port-Hamiltonian framework. The control design is tailored to the Bionic Handling Assistant, a continuum mechanic robot developed by the Festo AG. As in many real-world applications, the control design for the BHA system requires to address non-linearities and robustness issues. In this work, we aim to provide a constructive robust control design for the BHA system, which can be readily adapted to similar continuum robotic manipulators. We develop a controller with an integral action to enhance the robustness of the control system and to compensate for disturbances.
Subject: robustness; mechanical systems; control design; mathematical model; manipulator dynamics
Identifier: http://hdl.handle.net/1959.13/1449065
Identifier: uon:43564
Identifier: ISBN:9781728166674
Language: eng
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