Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385675
Benedikt Andritsch, M. Horn, Stefan Koch, H. Niederwieser, Maximilian Wetzlinger, M. Reichhartinger
An extended version of a Simulink® -block providing on-line differentiation algorithms based on discretized sliding-mode concepts is presented. Based on user-specified settings it computes estimates of the time-derivatives of the input signal up to order ten. Different discrete-time estimation algorithms as well as optional filtering properties can be selected. The paper includes an overview of the implemented algorithms, a detailed explanation of the developed Simulink® -block and two examples. The first example illustrates the application of the toolbox in a numerical simulation environment whereas the second one shows results obtained via an electrical laboratory setup.
{"title":"The Robust Exact Differentiator Toolbox revisited: Filtering and Discretization Features","authors":"Benedikt Andritsch, M. Horn, Stefan Koch, H. Niederwieser, Maximilian Wetzlinger, M. Reichhartinger","doi":"10.1109/ICM46511.2021.9385675","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385675","url":null,"abstract":"An extended version of a Simulink® -block providing on-line differentiation algorithms based on discretized sliding-mode concepts is presented. Based on user-specified settings it computes estimates of the time-derivatives of the input signal up to order ten. Different discrete-time estimation algorithms as well as optional filtering properties can be selected. The paper includes an overview of the implemented algorithms, a detailed explanation of the developed Simulink® -block and two examples. The first example illustrates the application of the toolbox in a numerical simulation environment whereas the second one shows results obtained via an electrical laboratory setup.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115661344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385680
Kaiki Fukutoku, Hirotoshi Masuda, T. Murakami
Motion measurement systems play an important role in a wide range of fields such as robot motion control and human motion analysis. Motion measurement methods using a camera, which is an external sensor, have problems such as low sampling rate and limited measurement range. On the other hand, the method using the encoder or inertial sensor, which is an internal sensor, has almost no limitation on the measurement range. Moreover, it can be measured at a high sampling rate. However, when using the internal sensor, it was necessary to use the kinematic model and kinematic parameters of robots and humans. Errors in these parameters lead to reduced accuracy in kinematic calculations. Therefore, the control performance and analysis accuracy are reduced. To solve these problems, we propose a method for estimating kinematic parameters using the inertial sensor. The proposed method uses a kinematic relational expression in the acceleration dimension. Therefore, kinematic parameters can be estimated without using absolute position information. In this paper, the proposed method is applied to the 3-link manipulator and the human body. The effectiveness of the proposed method is evaluated by comparing the estimated link length with the measured value.
{"title":"Internal Sensor Based Kinematic Parameters Estimation using Acceleration/Deceleration Motion","authors":"Kaiki Fukutoku, Hirotoshi Masuda, T. Murakami","doi":"10.1109/ICM46511.2021.9385680","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385680","url":null,"abstract":"Motion measurement systems play an important role in a wide range of fields such as robot motion control and human motion analysis. Motion measurement methods using a camera, which is an external sensor, have problems such as low sampling rate and limited measurement range. On the other hand, the method using the encoder or inertial sensor, which is an internal sensor, has almost no limitation on the measurement range. Moreover, it can be measured at a high sampling rate. However, when using the internal sensor, it was necessary to use the kinematic model and kinematic parameters of robots and humans. Errors in these parameters lead to reduced accuracy in kinematic calculations. Therefore, the control performance and analysis accuracy are reduced. To solve these problems, we propose a method for estimating kinematic parameters using the inertial sensor. The proposed method uses a kinematic relational expression in the acceleration dimension. Therefore, kinematic parameters can be estimated without using absolute position information. In this paper, the proposed method is applied to the 3-link manipulator and the human body. The effectiveness of the proposed method is evaluated by comparing the estimated link length with the measured value.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115374903","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385651
P. Kuresangsai, M. Cole
This paper presents a linear time-varying (LTV) prefilter design for residual vibration suppression in LTV motion systems. As tracking performance can be affected by delay effects from prefiltering, an additional moment constraint is introduced in the prefilter synthesis equations for tracking of constant velocity commands. Inclusion of the moment constraint can result in higher prefilter gain (H2 norm) which leads to overshoot in the transient response. It is shown how this effect can be reduced by noncausal prefiltering with specified preview time. The LTV-FIR prefilter is applied experimentally to a multi-flexure X-Y motion stage mechanism where the position-dependent dynamics are captured by interpolation of a set of identified LTI models. The experimental results confirm that the prefilter with input preview can reduce settling time and overshoot compared with the causal prefilter, while maintaining good tracking performance.
{"title":"Vibration suppression and tracking control of a flexure-jointed motion stage mechanism using LTV-FIR command filtering","authors":"P. Kuresangsai, M. Cole","doi":"10.1109/ICM46511.2021.9385651","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385651","url":null,"abstract":"This paper presents a linear time-varying (LTV) prefilter design for residual vibration suppression in LTV motion systems. As tracking performance can be affected by delay effects from prefiltering, an additional moment constraint is introduced in the prefilter synthesis equations for tracking of constant velocity commands. Inclusion of the moment constraint can result in higher prefilter gain (H2 norm) which leads to overshoot in the transient response. It is shown how this effect can be reduced by noncausal prefiltering with specified preview time. The LTV-FIR prefilter is applied experimentally to a multi-flexure X-Y motion stage mechanism where the position-dependent dynamics are captured by interpolation of a set of identified LTI models. The experimental results confirm that the prefilter with input preview can reduce settling time and overshoot compared with the causal prefilter, while maintaining good tracking performance.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128347620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385608
Takumi Nishimura, N. Motoi
This paper proposes a motion control method based on a model of a two-link manipulator considering musculoskeletal model. By using a planetary gear, the mono-articular and biarticular muscles are simulated in a two-link manipulator. This paper describes the precise plant model of two-link manipulator with bi-articular muscle. This model considers the interference between mono-articular and bi-articular muscles. The parameters of this model are decided from the preliminary experimental results to identify the parameters values. By using this model, the interference between mono-articular and bi-articular muscles is compensated. This paper shows the position control and force control considering this model is shown. Therefore, it is possible to conduct the precise motion control. The validity of the control methods considering this model was confirmed from the experimental results.
{"title":"Motion Control Method Based on Two-link Manipulator Model with Bi-articular Muscle Considering Planetary Gear","authors":"Takumi Nishimura, N. Motoi","doi":"10.1109/ICM46511.2021.9385608","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385608","url":null,"abstract":"This paper proposes a motion control method based on a model of a two-link manipulator considering musculoskeletal model. By using a planetary gear, the mono-articular and biarticular muscles are simulated in a two-link manipulator. This paper describes the precise plant model of two-link manipulator with bi-articular muscle. This model considers the interference between mono-articular and bi-articular muscles. The parameters of this model are decided from the preliminary experimental results to identify the parameters values. By using this model, the interference between mono-articular and bi-articular muscles is compensated. This paper shows the position control and force control considering this model is shown. Therefore, it is possible to conduct the precise motion control. The validity of the control methods considering this model was confirmed from the experimental results.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131717036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385653
Tomonori Suzuki, F. Chauvicourt, H. Fujimoto
Vibration suppression control of vehicles is important for ride comfort. In vehicles electrification, the in-wheel motor as an actuator for vibration suppression has attracted attention as an alternative to active suspension systems. For controller design, it is necessary to figure out the characteristics of the system. However, the frequency response characteristics of the suspension with the in-wheel motor are not fully understood. A conventional and traditional quarter car model gives an expression of only two resonances of the suspension system. This paper reveals that the third resonance comes from the suspension bushing using multibody dynamics. The authors also perform a sensitivity analysis of the frequency responses for a set of bushing stiffnesses that may differ with the product lifetime. Lastly, the authors show a feedforward controller design example based on the model analysis.
{"title":"High-Bandwidth Suspension Resonance Analysis of In-Wheel Motor Vehicle Using Multibody Dynamics","authors":"Tomonori Suzuki, F. Chauvicourt, H. Fujimoto","doi":"10.1109/ICM46511.2021.9385653","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385653","url":null,"abstract":"Vibration suppression control of vehicles is important for ride comfort. In vehicles electrification, the in-wheel motor as an actuator for vibration suppression has attracted attention as an alternative to active suspension systems. For controller design, it is necessary to figure out the characteristics of the system. However, the frequency response characteristics of the suspension with the in-wheel motor are not fully understood. A conventional and traditional quarter car model gives an expression of only two resonances of the suspension system. This paper reveals that the third resonance comes from the suspension bushing using multibody dynamics. The authors also perform a sensitivity analysis of the frequency responses for a set of bushing stiffnesses that may differ with the product lifetime. Lastly, the authors show a feedforward controller design example based on the model analysis.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131173583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385639
Yinjie Lin, Zheng Chen, B. Yao
Different from the “stiffer is better” rule in traditional robotic applications, safety and compliance are now drawing more and more attention. Series elastic actuator (SEA), which is an intrinsically safe and compliant actuator, is widely used in robotics. However, compared with the conventional stiff actuators' model, SEA system is high-order nonlinear and simultaneously has unmatched uncertainties owing to the existence of the joint flexibility. These problems make the motion control of SEA more complicated than conventional stiff actuators. To deal with these issues, a precision motion controller is developed in this paper by integrating the adaptive robust control (ARC) and the backstepping design technique. Specifically, the effect of matched and unmatched model uncertainties can be attenuated by the robust law via backstepping design techniques; furthermore, the on-line adaptation law is employed to suppress the parametric uncertainties and further improve the system performance. Theoretically, the tracking performance and stability of the controller are guaranteed. Comparative experiments have been conducted on a designed SEA testbed, and the experimental results validate the effectiveness of the proposed precision motion controller.
{"title":"Adaptive Robust Motion Control of Series Elastic Actuator with Unmatched Uncertainties","authors":"Yinjie Lin, Zheng Chen, B. Yao","doi":"10.1109/ICM46511.2021.9385639","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385639","url":null,"abstract":"Different from the “stiffer is better” rule in traditional robotic applications, safety and compliance are now drawing more and more attention. Series elastic actuator (SEA), which is an intrinsically safe and compliant actuator, is widely used in robotics. However, compared with the conventional stiff actuators' model, SEA system is high-order nonlinear and simultaneously has unmatched uncertainties owing to the existence of the joint flexibility. These problems make the motion control of SEA more complicated than conventional stiff actuators. To deal with these issues, a precision motion controller is developed in this paper by integrating the adaptive robust control (ARC) and the backstepping design technique. Specifically, the effect of matched and unmatched model uncertainties can be attenuated by the robust law via backstepping design techniques; furthermore, the on-line adaptation law is employed to suppress the parametric uncertainties and further improve the system performance. Theoretically, the tracking performance and stability of the controller are guaranteed. Comparative experiments have been conducted on a designed SEA testbed, and the experimental results validate the effectiveness of the proposed precision motion controller.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114855256","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385638
T. Trung, M. Iwasaki
This paper proposes a new control scheme with double-disturbance model-based compensation for interference force between joints of flexible robots. Following the inception of the double-disturbance model for full-closed cascade control system, a compensation strategy is then investigated, together with its two applications to suppress vibrations due to the interference force. The effectiveness of the proposed designs is verified by numerical simulations and experiments with a prototype of two-joint flexible robot.
{"title":"Double-Disturbance Compensation Design for Full-Closed Cascade Control of Flexible Robots","authors":"T. Trung, M. Iwasaki","doi":"10.1109/ICM46511.2021.9385638","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385638","url":null,"abstract":"This paper proposes a new control scheme with double-disturbance model-based compensation for interference force between joints of flexible robots. Following the inception of the double-disturbance model for full-closed cascade control system, a compensation strategy is then investigated, together with its two applications to suppress vibrations due to the interference force. The effectiveness of the proposed designs is verified by numerical simulations and experiments with a prototype of two-joint flexible robot.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117313742","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385609
F. Carneiro, M. Osada, Guangwei Zhang, Shunsuke Yoshimoto, A. Yamamoto
This paper presents a study on the use of piezoelectric transducers as inductive elements for a 2–4 phase resonant electrostatic induction motor. A model for transducer impedance is presented and coupled to known motor characteristics to determine how to combine a given motor to a given transducer. This is substantiated with experimental measurements. Experimental verification of motor resonance was also performed, with successful results, despite some error and observation of non linear behavior. Motor thrust force was also measured, with the motor having producing around 300 mN, very close to the expected force output.
{"title":"Achieving Resonance with Piezoelectric Transducers on 2–4 Phase Resonant Electrostatic Induction Motors","authors":"F. Carneiro, M. Osada, Guangwei Zhang, Shunsuke Yoshimoto, A. Yamamoto","doi":"10.1109/ICM46511.2021.9385609","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385609","url":null,"abstract":"This paper presents a study on the use of piezoelectric transducers as inductive elements for a 2–4 phase resonant electrostatic induction motor. A model for transducer impedance is presented and coupled to known motor characteristics to determine how to combine a given motor to a given transducer. This is substantiated with experimental measurements. Experimental verification of motor resonance was also performed, with successful results, despite some error and observation of non linear behavior. Motor thrust force was also measured, with the motor having producing around 300 mN, very close to the expected force output.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129760024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385700
Koen Hendrik Johan Classens, W. Heemels, T. Oomen
Fault diagnosis is crucial in high-tech production equipment to minimize operational downtime and to facilitate targeted maintenance. Future high-tech systems have numerous complex closed-loop control systems and require compatible fault diagnosis systems. The aim of this paper is to develop a procedure for decentralized fault detection in the presence of additional feedback interconnections. The influence of the additional feedback interconnections on the fault diagnosis system is investigated by means of an illustrative experimental study that resembles a next generation flexible motion system.
{"title":"A Closed-Loop Perspective on Fault Detection for Precision Motion Control: With Application to an Overactuated System","authors":"Koen Hendrik Johan Classens, W. Heemels, T. Oomen","doi":"10.1109/ICM46511.2021.9385700","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385700","url":null,"abstract":"Fault diagnosis is crucial in high-tech production equipment to minimize operational downtime and to facilitate targeted maintenance. Future high-tech systems have numerous complex closed-loop control systems and require compatible fault diagnosis systems. The aim of this paper is to develop a procedure for decentralized fault detection in the presence of additional feedback interconnections. The influence of the additional feedback interconnections on the fault diagnosis system is investigated by means of an illustrative experimental study that resembles a next generation flexible motion system.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129764325","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-03-07DOI: 10.1109/ICM46511.2021.9385624
Julio Pérez, Susanne Junghans
The state–dependent Riccati equation (SDRE) offers a systematic technique for controller design applicable to a wide range of nonlinear processes, especially to complex systems of higher order with inherently fast dynamics. Despite the numerous benefits of the SDRE technique, an open issue remains in providing stability regions for the regulated system as the closed-loop dynamics are not explicitly known. Standard techniques, such as Lyapunov’s direct method, do not allow to infer global properties from local analysis. However, the recently developed contraction theory enables the study of closed-loop dynamics exclusively known pointwisely, which suggests its applicability to SDRE-controlled systems. Thus, this paper presents a novel technique for computing contraction region estimates for nonlinear stabilisation using SDRE-based controllers. By solving an optimisation problem, the region estimate is generated by a smooth Riemannian metric which assures exponential convergence towards the origin. Moreover, a guaranteed lower bound of the contraction rate is explicitly given. To highlight the benefits of the proposed method, numerical simulations of a Two-wheeled inverted pendulum (TWIP) robot are provided. Thus, this paper presents a novel technique for computing contraction region estimates for nonlinear stabilisation using SDRE-based controllers. By solving an optimisation problem, the region estimate is generated by a smooth Riemannian metric which assures exponential convergence towards the origin. Moreover, a guaranteed lower bound of the contraction rate is explicitly given. To highlight the benefits of the proposed method, numerical simulations of a Two-wheeled inverted pendulum (TWIP) robot are provided.
{"title":"Contraction Region Estimate for State-Dependent Riccati Equation-Based Controllers and its Application to a Two-Wheeled Inverted Pendulum","authors":"Julio Pérez, Susanne Junghans","doi":"10.1109/ICM46511.2021.9385624","DOIUrl":"https://doi.org/10.1109/ICM46511.2021.9385624","url":null,"abstract":"The state–dependent Riccati equation (SDRE) offers a systematic technique for controller design applicable to a wide range of nonlinear processes, especially to complex systems of higher order with inherently fast dynamics. Despite the numerous benefits of the SDRE technique, an open issue remains in providing stability regions for the regulated system as the closed-loop dynamics are not explicitly known. Standard techniques, such as Lyapunov’s direct method, do not allow to infer global properties from local analysis. However, the recently developed contraction theory enables the study of closed-loop dynamics exclusively known pointwisely, which suggests its applicability to SDRE-controlled systems. Thus, this paper presents a novel technique for computing contraction region estimates for nonlinear stabilisation using SDRE-based controllers. By solving an optimisation problem, the region estimate is generated by a smooth Riemannian metric which assures exponential convergence towards the origin. Moreover, a guaranteed lower bound of the contraction rate is explicitly given. To highlight the benefits of the proposed method, numerical simulations of a Two-wheeled inverted pendulum (TWIP) robot are provided. Thus, this paper presents a novel technique for computing contraction region estimates for nonlinear stabilisation using SDRE-based controllers. By solving an optimisation problem, the region estimate is generated by a smooth Riemannian metric which assures exponential convergence towards the origin. Moreover, a guaranteed lower bound of the contraction rate is explicitly given. To highlight the benefits of the proposed method, numerical simulations of a Two-wheeled inverted pendulum (TWIP) robot are provided.","PeriodicalId":373423,"journal":{"name":"2021 IEEE International Conference on Mechatronics (ICM)","volume":"3586 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127521656","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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