{"title":"High-precision control of a robotic arm using frequency-based data-driven methods","authors":"Philippe Schuchert, Alireza Karimi","doi":"10.1016/j.conengprac.2024.106175","DOIUrl":null,"url":null,"abstract":"<div><div>Next-generation motion control systems require fast and precise control. However, advanced control strategies often rely on complex and costly system models. Data-driven methods have been proposed to design high-performance controllers without requiring a parametric model of the system. In particular, methods using frequency response functions (FRFs) have been widely applied to mechatronic systems due to their good performance, and the industry’s familiarity with obtaining FRFs. This paper applies a recently developed method to design a controller for an industrial robotic arm with three translational degrees of freedom, using only the FRF of the robot around different operating points. Focused on motion control, the objective is to attain the desired reference tracking performance through the design of a linear-parameter-varying (LPV) two-degree-of-freedom (2DoF) controller. Performance is further improved by tuning an additional filter to compensate for inaccuracies in the transmission.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"155 ","pages":"Article 106175"},"PeriodicalIF":5.4000,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Control Engineering Practice","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0967066124003344","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
Next-generation motion control systems require fast and precise control. However, advanced control strategies often rely on complex and costly system models. Data-driven methods have been proposed to design high-performance controllers without requiring a parametric model of the system. In particular, methods using frequency response functions (FRFs) have been widely applied to mechatronic systems due to their good performance, and the industry’s familiarity with obtaining FRFs. This paper applies a recently developed method to design a controller for an industrial robotic arm with three translational degrees of freedom, using only the FRF of the robot around different operating points. Focused on motion control, the objective is to attain the desired reference tracking performance through the design of a linear-parameter-varying (LPV) two-degree-of-freedom (2DoF) controller. Performance is further improved by tuning an additional filter to compensate for inaccuracies in the transmission.
期刊介绍：
Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper.
The scope of Control Engineering Practice matches the activities of IFAC.
Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
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