Proposal of a virtual environment of simulation using robust predictive control design applied to robotic joints / Proposta de um ambiente virtual de simulação para projeto de controlador preditivo robusto para juntas roboticas

AUTOR(ES)
DATA DE PUBLICAÇÃO

2006

RESUMO

Satisfying more and more severe specifications in the field of robotic joints control requires now implementation of advanced control laws. But, before applying these new strategies on the system, their validation within a realistic virtual environment, used for simulation and rapid prototyping purposes, is necessary. The aim of this work is first the elaboration of such of virtual environment in the Matlab/Simulink@ ffamework, including kinematics, dynamics, geometric part, actuators, controllers and appropriate HMI interfaces. Further, the design and validation of robust predictive control laws for robotic joints control is developed, within this environment, with a particular application to a positioning table with 3 degree-of-freedom The axis control law follows an original concept mixing predictive control structures under an RST form and robustification features against unstructured uncertainties through the Youla parameterization. Tuning of control law parameters is also considered as part of the virtual environment. The developed simulator finally enables to assess the performances obtained with the advanced control law, showing the good performance in relation to disturbances and measurement noise rejection

ASSUNTO(S)

ambiente virtual controle preditivo rapid prototyping prototipagem rapida predictive control controle robusto virtual environment robust control robotica robotics

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