Robotics 2016/17 Institut für Zuverlässigkeitstechnik

Exercise M.Sc. Theodor Wassiliou

Exercise 10

Nonlinear Control

Design a control system for the system

𝑓 = 3𝑥̈ + 2𝑥𝑥̇ + 3𝑥̇ + 5𝑥 + 20𝑥 3 − 5

a) Derive the equations for the model based controller and choose gains so that this system
is always critically damped with a closed loop stiffness of 16.

b) Additionally give the Simulink notation for this controller and system.
If you do not know the exact shape of a block, describe what the block has to do.
i) Sketch the system in Simulink notation
ii) Apply model based control in Simulink notation
iii) Indicate the portions “System”, “Model based controller” and “PD-Controller”

Nonlinear Manipulator-Control

The torque-equation for the last link of a robot is given by

𝜏 = 𝑚𝑙 2 𝜑̈ + 𝑣 ⋅ 𝜑̇ + 𝑤 ⋅ 𝜑̇ 3 + 𝑑 2 ⋅ 𝑠𝑖𝑔𝑛(𝜑̇ ) + 𝑚𝑔𝑙 cos(𝜑)

a) Derive a nonlinear controller for this link in a mathematic

expression to keep it critically damped at each instant. The closed
loop stiffness is 𝑘𝑝∗ .

b) Additionally give the Simulink notation for this controller and

system.
If you do not know the exact shape of a block, describe what the block has to do.
i) Draw the system with the torque-equation as given above.
ii) Add then a model based controller and a PD-Controller. The closed loop stiffness is
𝑘𝑝∗ .
iii) Mark the parts ‘system’, ‘model-based part’ and ‘PD-part’.