Optimization of feedforward controllers to minimize sensitivity to model inaccuracies

Michiel Plooij, Michiel de Vries, Wouter Wolfslag, Martijn Wisse

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The common view on feedforward control is that it needs an accurate model in order to accurately predict a future state of the system. However, in this paper we show that there are model inaccuracies that do not affect the final position of a motion, when using the right feedforward controller. Having an accurate final position is the main requirement in the task we consider: a pick-and-place task. We optimized the feedforward controllers such that the effect of model inaccuracies on the final position was minimized. The system we studied is a one DOF robotic arm in the horizontal plane, of which we show simulation and hardware results. The results show that the errors in the final position can be reduced to approximately zero for an inaccurate Coulomb, viscous or torque dependent friction. Furthermore, errors in the final position can be reduced, but not to zero, for an inaccurate inertia or motor constant. In conclusion, we show that for certain model inaccuracies, no feedback is required to eliminate the effect of an inaccurate model on the final position of a motion.
Original languageEnglish
Title of host publication2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Place of PublicationTokyo, Japan
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages3382-3389
Number of pages8
ISBN (Electronic)978-1-4673-6358-7
DOIs
Publication statusPublished - 6 Jan 2014
Event2013 IEEE/RSJ International Conference on Intelligent Robots and Systems - Tokyo, Japan
Duration: 3 Nov 20137 Nov 2013
http://www.iros2013.org/

Conference

Conference2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2013
Country/TerritoryJapan
CityTokyo
Period3/11/137/11/13
Internet address

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