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A New Procedure for Tuning an Allocator and Designing a Robust High-Level Control Law for Over-Actuated Systems

Abstract : This paper presents a new integrated procedure to tune a control law for overactuated mechanical systems that may encounter singularities. First, the allocator that divides the commands among the actuators is tuned thanks to a genetic optimization algorithm, that computes the optimal values of its parameters. Then, the open-loop system including the allocator is identified and a robust closed-loop controller is computed with the structured H_\infty method. Indeed, near singularities, the system and the allocator may create errors to deviate from these points or create delays to reconfigure the actuators, hence there is a need to create a closed-loop controller robust to these characteristics and to parameter variations. This procedure is carried out on a planar redundant robotic manipulator example. Simulations
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Submitted on : Tuesday, March 20, 2018 - 11:07:00 AM
Last modification on : Tuesday, March 16, 2021 - 3:44:18 PM
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Hélène Evain, Mathieu Rognant, Daniel Alazard, Jean Mignot. A New Procedure for Tuning an Allocator and Designing a Robust High-Level Control Law for Over-Actuated Systems. IFAC World Congress 2017, Jul 2017, Toulouse, France. pp. 12741-12747, ⟨10.1016/j.ifacol.2017.08.1827⟩. ⟨hal-01738087⟩

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