Non-iterative data-driven controller tuning with guaranteed stability: application to direct-drive pick-and-place robot

K. Heusden, van, A. Karimi, D. Bonvin, A.J. Hamer, den, M. Steinbuch

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

5 Citations (Scopus)

Abstract

This paper illustrates the practical application of non-iterative correlation-based tuning with guaranteed stability. In this method, a sufficient condition for closed-loop stability is defined as the H8-norm of a particular error function. This norm is then estimated using data from one closed-loop experiment. The method is applied to a pick-and-place robot. It is shown that the proposed constraints for stability are effective without being overly conservative. Furthermore, it is shown how the method can be used to systematically design low-order controllers. © 2010 IEEE.
Original languageEnglish
Title of host publicationProceedings of 2010 IEEE International Conference on Control Applications (CCA) part of 2010 IEEE Multi-conference on Systems and Control, Yokohama, Japan, September 8-10, 2010
PublisherInstitute of Electrical and Electronics Engineers
Pages1005-1010
ISBN (Print)978-1-4244-5362-7
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Control Applications (CCA 2010) - Yokohama, Japan
Duration: 8 Sep 201010 Sep 2010

Conference

Conference2010 IEEE International Conference on Control Applications (CCA 2010)
Abbreviated titleCCA 2010
CountryJapan
CityYokohama
Period8/09/1010/09/10
OtherPart of 2010 IEEE Multi-Conference on Systems and Control

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