Robust Microscale Grasping Using a Self Scheduled Dynamic Controller
نویسندگان
چکیده
منابع مشابه
Robust Microscale Grasping Using a Self Scheduled Dynamic Controller
This paper deals with robust gripping force control at the microscale for a safe manipulation of deformable soft materials. Since mechanical properties of micrometer sized objects are uncertain, instability often occurs during a gripping task. In this article, the design of an output feedback self-scheduled dynamic controller is proposed considering parametric uncertainties of a set of 65 soft ...
متن کاملA Self-learning Controller For Monocular Grasping
|A method is presented to learn 3D grasping of objects with unknown dimensions using a monocular eye-in-hand manipulator. From a sequence of images a motion proole is generated to approach the object of unknown size. It is shown that monocular visual information suuces to control the deceleration of the robot manipulator. A strategy for generating learning samples is presented, and simulation r...
متن کاملRobust H2 switching gain-scheduled controller design for switched uncertain LPV systems
In this article, a new approach is proposed to design robust switching gain-scheduled dynamic output feedback control for switched uncertain continuous-time linear parameter varying (LPV) systems. The proposed robust switching gain-scheduled controllers are robustly designed so that the stability and H2-gain performance of the switched closed-loop uncertain LPV system can be guaranteed even und...
متن کاملRobust gain-scheduled controller for linear parameter varying systems
Proportional-integral-derivative (PID) controller is the most widely used in industry due to its simplicity and performance characteristics. However, a number of processes with time-variant or nonlinear characteristics are difficult to be handled with a conventional PID controller. To address this problem, an enhanced PID controller exhibiting improved performance than the conventional linear f...
متن کاملRobust Gain–scheduled Pid Controller Design for Uncertain Lpv Systems
A novel methodology is proposed for robust gain-scheduled PID controller design for uncertain LPV systems. The proposed design procedure is based on the parameter-dependent quadratic stability approach. A new uncertain LPV system model has been introduced in this paper. To access the performance quality the approach of a parameter varying guaranteed cost is used which allowed to reach for diffe...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2014
ISSN: 1474-6670
DOI: 10.3182/20140824-6-za-1003.00413