Parameter space design for robust decentralized robot control

Abstract

This paper presents a novel approach to robust decentralized robot control: the application of a recently developed parameter space design method which allows interactive graphical selection of control parameters satisfying individually prescribed stability, performance, and robustness requirements as well as additional criteria on controller structure or implementational aspects. The technique allows rapid practical design of simple controllers that are superior to conventional designs, yet equally cheap to implement and fast to execute. This is demonstrated at the example of a 6 degrees-of-freedom experimental space robot.