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Min-max Control for Vibration Suppression of Mobile Manipulator with Active Suspension System
Dongil Choi 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.2
This paper introduces a method to control the vibration of mobile manipulator on the vertical direction. When the mobile manipulation moves on uneven road, the road disturbance affects the manipulation system. It is important to suppress the disturbance for the stability of manipulation system. The vibration damping control method of a simplified double inverted pendulum model is designed to suppress vertical disturbance. In the double inverted pendulum model, the system matrix contains parameter uncertainty due to the simplification of the model. To control this system, we use static output feedback with min-max control. By using the static output feedback with min-max control, the desired closed-loop stability can be achieved while effectively suppressing disturbance even in the presence of system uncertainty. We measure the actual road disturbance by using an accelerometer. In the simulation, we prove the measured ground disturbance is successfully suppressed by using our control method and demonstrated effectiveness of proposed control method through comparative simulations with LQR control.
Model Predictive Control of Autonomous Delivery Robot with Non-minimum Phase Characteristic
Dongil Choi 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.5
This paper introduces the concept of motion planning of delivery robot in an autonomous driving mode using an invertedpendulum model that can eff ectively control disturbance. The inverted pendulum model exhibits the non-minimum phasecharacteristic caused by the right half-plane zero. An eff ective method of reducing this characteristic is examined. A motionplatform with 3-degree-of-freedom motion and a touch sensor are installed on a wheeled omnidirectional mobile platform. A steel ball is placed on the touch sensor and controlled to be located at the center. As the autonomous delivery robot moves,the steel ball is subjected to various disturbances and goes off the center. The infl uence of disturbance can be predicted bymeasuring the distance the steel ball moves away from the center. In this paper, linear quadratic regulator, preview control,and model predictive control are applied to the inverted pendulum model for motion planning, and thus the reduction of thenon-minimum phase characteristic can be comparatively analyzed via simulation. The decrease in the disturbance is experimentallycompared according to motion planning. Consequently, this paper proposes an eff ective motion planning methodfor an autonomous delivery robot with non-minimum phase characteristic.