论文标题
保留用于机器人控制的H-侵点合成技术的消极性
A Passivity Preserving H-infinity Synthesis Technique for Robot Control
论文作者
论文摘要
机器人技术中的大多数阻抗控制方案都实现了所需的被动阻抗，从而可以在受控机器人和环境之间进行稳定的相互作用。但是，关于选择所需的阻抗的指导很少。通常，找到最佳的刚度和阻尼参数是一项艰巨的任务。本文通过将阻抗控制与稳健的控制联系起来，以通过反馈来塑造机器人表演。我们提供了一种基于线性矩阵不平等的方法，具有稀疏性限制，以得出满足H-侵蚀性能标准的阻抗控制器。我们的控制器保证了受控机器人的被动性和靠近关键姿势的本地性能。
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance. In general, finding the best stiffness and damping parameters is a challenging task. This paper contributes to this problem by connecting impedance control to robust control, with the goal of shaping the robot performances via feedback. We provide a method based on linear matrix inequalities with sparsity constraints to derive impedance controllers that satisfy a H-infinity performance criterion. Our controller guarantees passivity of the controlled robot and local performances near key poses.
