Towards a sub-optimal solution of a partially observed state dependent JLQ problem

Chiu, D.; Lee, S.

doi:10.1109/cdc.1995.480532

Cited by 5 publications

(4 citation statements)

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“…When we design the JIC, we assume that the uncertainties are large and thus o has to be made small. From (1 l), (12), this implies a low bandwidth design if Q's are also small. This is why the gains on the environment states and& are small, which means that the controller prefers to control the contact force in an openloop fashion.…”

Section: Discussion Of Nominal Casementioning

confidence: 99%

“…Derivation of JIC In the following, we shall describe the actual JIC design using some of the results from [11,12]. Shown in Fig.…”

Section: Jump Impact Controller Backgroundmentioning

confidence: 99%

“…The optimal solution to (A5) can be obtained by the stochastic I t minimum principle [12] and h, = -F, h, -GzG-OC, rF$ Since @a and @b are functions of &, which is a function of $, (A13) will be difficult to solve. However, if we assume that Q is small, both +a and +b will be closed to constants Fa and $, respectively and there exist an infinite time solution such thatp = 6 = 0.…”

Section: Appendixmentioning

confidence: 99%

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Design and experimentation of a jump impact controller

Chiu

Lee²

1997

IEEE Control Syst.

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me ms A new impadforce controller known as Jump Impact Controlrived by representing dynamics of collision in terms of a jump linear system where the jumps of system dynamics can be described by a state-dependent stochastic process. Thus, JIC provides robustness to the uncertainties in the environment dynamics as well as the location of the collision surface. The experimental results not only demonstrate the robustness of JIC but also help explain and interpret how robustness is associated with the JIC theory in terms of such known concepts as approach velocity and control system bandwidth.

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Section: Discussion Of Nominal Casementioning

confidence: 99%

“…Derivation of JIC In the following, we shall describe the actual JIC design using some of the results from [11,12]. Shown in Fig.…”

Section: Jump Impact Controller Backgroundmentioning

confidence: 99%

Section: Appendixmentioning

confidence: 99%

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Design and experimentation of a jump impact controller

Chiu

Lee²

1997

IEEE Control Syst.

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“…The generalized coordinates xD xs, and x, are the manipulator position, sensor position and environment position respectively along the normal of the environment surface. As described in [ 2 ] , by letting x1 = xr, x2 = x,, x3 = xr, x4 = x s , x5 = x,, x6 = xe, and, x7 = z , the state space system dynamics of figure 5 is descnbed by the following equations, Figure 2, the probability that r jumps:…”

Section: Previous Workmentioning

confidence: 99%

Gain scheduling and integral action in manipulator collision control

Chiu

Lee²

Proceedings of International Conference on Robotics and Automation

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In this papel; Jump Impact controller and observer derived previously for the manipulator collision control problem under the conditions that there are force sensor delay and uncertainties in the environment dynamics and location is modiJed with better intuitive appeal and understanding. It turns out that the solution is a combination of integral action and gain scheduling which provide a valuable design freedom or tool to achieve the desired robustness and performance in accordance with the uncertainties involved. An example that demonstrate this design process with simulation results are presented

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