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

doi:10.1109/CCA.2010.5611118

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 proceeding › Conference contribution › Academic › peer-review

7 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 language	English
Title of host publication	Proceedings 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
Publisher	Institute of Electrical and Electronics Engineers
Pages	1005-1010
ISBN (Print)	978-1-4244-5362-7
DOIs	https://doi.org/10.1109/CCA.2010.5611118
Publication status	Published - 2010
Event	2010 IEEE International Conference on Control Applications (CCA 2010) - Yokohama, Japan Duration: 8 Sept 2010 → 10 Sept 2010

Conference

Conference	2010 IEEE International Conference on Control Applications (CCA 2010)
Abbreviated title	CCA 2010
Country/Territory	Japan
City	Yokohama
Period	8/09/10 → 10/09/10
Other	Part of 2010 IEEE Multi-Conference on Systems and Control

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10.1109/CCA.2010.5611118

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Heusden, van, K., Karimi, A., Bonvin, D., Hamer, den, A. J., & Steinbuch, M. (2010). Non-iterative data-driven controller tuning with guaranteed stability: application to direct-drive pick-and-place robot. In Proceedings 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 (pp. 1005-1010). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CCA.2010.5611118

Heusden, van, K. ; Karimi, A. ; Bonvin, D. et al. / Non-iterative data-driven controller tuning with guaranteed stability: application to direct-drive pick-and-place robot. Proceedings 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. Institute of Electrical and Electronics Engineers, 2010. pp. 1005-1010

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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. {\textcopyright} 2010 IEEE.",

author = "{Heusden, van}, K. and A. Karimi and D. Bonvin and {Hamer, den}, A.J. and M. Steinbuch",

year = "2010",

doi = "10.1109/CCA.2010.5611118",

language = "English",

isbn = "978-1-4244-5362-7",

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note = "2010 IEEE International Conference on Control Applications (CCA 2010), CCA 2010 ; Conference date: 08-09-2010 Through 10-09-2010",

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Heusden, van, K, Karimi, A, Bonvin, D, Hamer, den, AJ & Steinbuch, M 2010, Non-iterative data-driven controller tuning with guaranteed stability: application to direct-drive pick-and-place robot. in Proceedings 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. Institute of Electrical and Electronics Engineers, pp. 1005-1010, 2010 IEEE International Conference on Control Applications (CCA 2010), Yokohama, Japan, 8/09/10. https://doi.org/10.1109/CCA.2010.5611118

Non-iterative data-driven controller tuning with guaranteed stability: application to direct-drive pick-and-place robot. / Heusden, van, K.; Karimi, A.; Bonvin, D. et al.
Proceedings 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. Institute of Electrical and Electronics Engineers, 2010. p. 1005-1010.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - 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.

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Heusden, van K, Karimi A, Bonvin D, Hamer, den AJ, Steinbuch M. Non-iterative data-driven controller tuning with guaranteed stability: application to direct-drive pick-and-place robot. In Proceedings 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. Institute of Electrical and Electronics Engineers. 2010. p. 1005-1010 doi: 10.1109/CCA.2010.5611118

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

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