A passivity approach to controller-observer design for robots

Passivity-based control methods for robots, which achieve the control objective by reshaping the robot system's natural energy via state feedback, have, from a practical point of view, some very attractive properties. However, the poor quality of velocity measurements may significantly deteriorate the control performance of these methods. In this paper the authors propose a design strategy that utilizes the passivity concept in order to develop combined controller-observer systems for robot motion control using position measurements only. To this end, first a desired energy function for the closed-loop system is introduced, and next the controller-observer combination is constructed such that the closed-loop system matches this energy function, whereas damping is included in the controller- observer system to assure asymptotic stability of the closed-loop system. A key point in this design strategy is a fine tuning of the controller and observer structure to each other, which provides solutions to the output-feedback robot control problem that are conceptually simple and easily implementable in industrial robot applications. Experimental tests on a two-DOF manipulator system illustrate that the proposed controller-observer systems enable the achievement of higher performance levels compared to the frequently used practice of numerical position differentiation for obtaining a velocity estimat

A robust adaptive robot controller

A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Third, we derive for the unknown parameter design a relationship between compensator gains and closed-loop convergence rates that is independent of the robot task. A simulation example of a two-DOF manipulator featuring some aspects of the control scheme is give

Schubert polynomials and Arakelov theory of symplectic flag varieties

Let X be the flag variety of the symplectic group. We propose a theory of combinatorially explicit Schubert polynomials which represent the Schubert classes in the Borel presentation of the cohomology ring of X. We use these polynomials to describe the arithmetic Schubert calculus on X. Moreover, we give a method to compute the natural arithmetic Chern numbers on X, and show that they are all rational numbers.Comment: 22 pages; final versio

Library scanning service: how to put a link to a scanned item in your Moodle course

Quick guide for staff with the necessary steps to put a link to a scanned item in their Moodle course