Multi-Objective Admittance Control: An LMI-Based Method

被引：1

作者：

Zou, Wulin ^{[1
,2
]}

Chen, Xiang ^{[3
]}

Li, Shilei ^{[1
,2
]}

Duan, Pu ^{[2
]}

Yu, Ningbo ^{[4
]}

Shi, Ling ^{[1
]}

机构：

[1] Hong Kong Univ Sci & Technol, Dept Elect & Comp Engn, Hong Kong, Peoples R China

[2] Xeno Dynam Co Ltd, Shenzhen, Guangdong, Peoples R China

[3] Univ Windsor, Dept Elect & Comp Engn, Windsor, ON, Canada

[4] Nankai Univ, Inst Robot & Automat Informat Syst, Tianjin Key Lab Intelligent Robot, Tianjin, Peoples R China

来源：

2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022) | 2022年

基金：

中国国家自然科学基金;

关键词：

HUMAN-ROBOT INTERACTION; EXOSKELETON; DESIGN; ROBUST;

D O I：

10.1109/ICARM54641.2022.9959352

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robust and stable admittance control is critically important in physical human-robot interaction. However, there are inherent structural flaws for the conventional admittance control, where tradeoff should be made among admittance performance (accuracy and passivity) and robustness. This paper addresses the dilemma for the multi-objective optimization problem in admittance control. Firstly, a complementary admittance control framework is proposed with decoupled design freedoms of admittance performance and robustness. Then, LMI-based optimization algorithms are developed to find the controller gains satisfying respective constraints. Finally, simulations are conducted to show the efficacy of the proposed method.

引用

页码：754 / 759

页数：6

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