Ellipsoidal tube MPC of robots carrying glass plates

doi:10.1109/CDC.2018.8619197

	Ellipsoidal tube MPC of robots carrying glass plates
	Feng, Xuhui1 ; Li, Jiaqi C.1 ; Villanueva, Mario E.1 ; Pannek, Juergen 2; Houska, Boris1
	2018
会议录名称	2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC)
ISSN	0743-1546
卷号	2018-December
页码	2647-2652
发表状态	已发表
DOI	10.1109/CDC.2018.8619197
摘要	This paper is about time-optimal robust model predictive control of a robot arm that carries a glass plate. We model constraints on the strains in the extremal fibers of the glass plate based on the section modulus and tensile strength to avoid breakages. In order to synthesize a control strategy, we propose to use a tailored ellipsoidal tube based model predictive control scheme, which can deal with these nonlinear strain constraints of the glass plate. The necessity of modeling the strains in the fibers as well as the properties of the proposed robust control method are illustrated in a realistic case study for a KUKA youBot model, which is simulated in the presence of process noise.
关键词	Glass Grippers Manipulators Electron tubes Strain Uncertainty
出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
会议地点	Miami Beach, FL
会议日期	17-19 Dec. 2018
URL	查看原文
收录类别	CPCI ; CPCI-S ; EI
语种	英语
资助项目	ShanghaiTech University[F-0203-14-012]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000458114802080
出版者	IEEE
EI入藏号	20190906569073
EI主题词	Glass ; Predictive control systems ; Robust control ; Strain ; Tensile strength
EI分类号	Automatic Control Principles and Applications:731 ; Control Systems:731.1 ; Glass:812.3 ; Materials Science:951
WOS关键词	MODEL-PREDICTIVE CONTROL
原始文献类型	Proceedings Paper
来源库	IEEE
引用统计
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/29716
专题	信息科学与技术学院_博士生信息科学与技术学院_PI研究组_Boris Houska组信息科学与技术学院_硕士生
通讯作者	Feng, Xuhui
作者单位	1.ShanghaiTech Univ, Sch Informat Sci & Technol, Shanghai, Peoples R China 2.BIBA Bremer Inst Prod & Logist GmbH BIBA, Hochschulring 20, D-28359 Bremen, Germany
第一作者单位	信息科学与技术学院
通讯作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Feng, Xuhui,Li, Jiaqi C.,Villanueva, Mario E.,et al. Ellipsoidal tube MPC of robots carrying glass plates[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2018:2647-2652.