油圧ロボットの非線形外乱抑制制御
Nonlinear disturbance attenuation control of hydraulic robotics
3次フィルタと逆動力学で外乱を推定し、剛体動力学の線形化を要さない非線形制御で油圧ロボットの外乱を抑圧、実機で追従性とロバスト性を検証した論文。
著者: Peng Lu, Timothy Sandy, Jonas Buchli
分類: cs.RO
原文アブストラクト
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order filters are pre-defined. The proposed method is nonlinear, which does not require the linearization of the rigid body dynamics. The estimated disturbances are used by the nonlinear controller in order to achieve disturbance attenuation. The performance of the proposed approach is compared with existing approaches. Finally, the tracking performance and robustness of the proposed approach is validated extensively on real hardware by performing different tasks under either internal or both internal and external disturbances. The experimental results demonstrate the robustness and superior tracking performance of the proposed approach.
