Underactuated Robot Control: Comparing LQR, Subspace Stabilization, and Combined Error Metric Approaches

In this paper, three techniques for robust control of underactuated robots are experimentally compared on the classical ball and beam system. An adaptive tracking controller is first designed and implemented to identify the nominal friction characteristic. Then, designs for a linear quadratic regula...

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Published inIEEE transactions on industrial electronics (1982) Vol. 55; no. 10; pp. 3724 - 3730
Main Authors Marton, L., Hodel, A.S., Lantos, B., Hung, J.Y.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.10.2008
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Adaptive systems
Beams (radiation)
Design engineering
Error correction
Friction
Friction compensation
linear quadratic regulator (LQR)
Lyapunov methods
Nonlinearity
Programmable control
Regulators
Robot control
Robots
Robust control
Settling
sliding mode control
Stability
Stabilization
subspace stabilization
Subspaces
Testing
linear-quadratic control
subspace stabilization
sliding mode control
friction compensation
Lyapunov methods
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Abstract In this paper, three techniques for robust control of underactuated robots are experimentally compared on the classical ball and beam system. An adaptive tracking controller is first designed and implemented to identify the nominal friction characteristic. Then, designs for a linear quadratic regulator (LQR), subspace stabilization controller, and combined error metric controller are presented. Step response tests confirm that both nonlinear approaches exhibit better stability properties than the standard LQR design. In addition, the subspace stabilization approach permits a much more aggressive beam motion, resulting in shorter settling time with excellent control of overshoot.
AbstractList In this paper, three techniques for robust control of underactuated robots are experimentally compared on the classical ball and beam system. An adaptive tracking controller is first designed and implemented to identify the nominal friction characteristic. Then, designs for a linear quadratic regulator (LQR), subspace stabilization controller, and combined error metric controller are presented. Step response tests confirm that both nonlinear approaches exhibit better stability properties than the standard LQR design. In addition, the subspace stabilization approach permits a much more aggressive beam motion, resulting in shorter settling time with excellent control of overshoot.
In this paper, three techniques for robust control of underactuated robots are experimentally compared on the classical ball and beam system. An adaptive tracking controller is first designed and implemented to identify the nominal friction [abstract truncated by publisher].
Author Marton, L.
Hodel, A.S.
Lantos, B.
Hung, J.Y.
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  surname: Hung
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Keywords linear-quadratic control
subspace stabilization
sliding mode control
friction compensation
Lyapunov methods
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SubjectTerms Adaptive control
Adaptive systems
Beams (radiation)
Design engineering
Error correction
Friction
Friction compensation
linear quadratic regulator (LQR)
Lyapunov methods
Nonlinearity
Programmable control
Regulators
Robot control
Robots
Robust control
Settling
sliding mode control
Stability
Stabilization
subspace stabilization
Subspaces
Testing
Title Underactuated Robot Control: Comparing LQR, Subspace Stabilization, and Combined Error Metric Approaches
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Volume 55
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