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A New Procedure for Tuning an Allocator and Designing a Robust High-Level Control Law for Over-Actuated Systems

Evain, Hélène and Rognant, Mathieu and Alazard, Daniel and Mignot, Jean A New Procedure for Tuning an Allocator and Designing a Robust High-Level Control Law for Over-Actuated Systems. (2017) In: IFAC World Congress 2017, 9 July 2017 - 14 July 2017 (Toulouse, France).

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Official URL: http://dx.doi.org/10.1016/j.ifacol.2017.08.1827

Abstract

This paper presents a new integrated procedure to tune a control law for overactuated mechanical systems that may encounter singularities. First, the allocator that divides the commands among the actuators is tuned thanks to a genetic optimization algorithm, that computes the optimal values of its parameters. Then, the open-loop system including the allocator is identified and a robust closed-loop controller is computed with the structured H_\infty method. Indeed, near singularities, the system and the allocator may create errors to deviate from these points or create delays to reconfigure the actuators, hence there is a need to create a closed-loop controller robust to these characteristics and to parameter variations. This procedure is carried out on a planar redundant robotic manipulator example. Simulations

Item Type:Conference or Workshop Item (Paper)
Additional Information:vol. 50, n°1
HAL Id:hal-01738087
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National d'Études Spatiales - CNES (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
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Deposited By: Daniel Alazard
Deposited On:20 Mar 2018 10:06

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