Morlando, Viviana (2023) Disturbance rejection in optimal control for limbed parallel robots. [Tesi di dottorato]
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| Tipologia del documento: | Tesi di dottorato |
|---|---|
| Lingua: | English |
| Titolo: | Disturbance rejection in optimal control for limbed parallel robots |
| Autori: | Autore Email Morlando, Viviana viviana.morlando@unina.it |
| Data: | 2023 |
| Numero di pagine: | 134 |
| Istituzione: | Università degli Studi di Napoli Federico II |
| Dipartimento: | Ingegneria Elettrica e delle Tecnologie dell'Informazione |
| Dottorato: | Information technology and electrical engineering |
| Ciclo di dottorato: | 35 |
| Coordinatore del Corso di dottorato: | nome email Russo, Stefano stefano.russo@unina.it |
| Tutor: | nome email Ruggiero, Fabio [non definito] |
| Data: | 2023 |
| Numero di pagine: | 134 |
| Parole chiave: | legged robots, cable-driven parallel robots, disturbance rejection, optimal control, model predictive controller, whole-body controller |
| Settori scientifico-disciplinari del MIUR: | Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica |
| Depositato il: | 15 Mar 2023 09:01 |
| Ultima modifica: | 10 Apr 2025 14:21 |
| URI: | http://www.fedoa.unina.it/id/eprint/15232 |
Abstract
Over the years, robot started to be used in broad but cluttered environments to accomplish different tasks. For this reason, the research in field and service robotics has been directed towards robots able to traverse large spaces. These robots have to operate in highly complex terrains, and need to move in wide spaces. For this reason they are characterized by a mobile platform. Despite the most used mobile robots are the wheeled one, they could encounter some difficulties when moving on challenging and irregular terrain. For this reason, other kind of robots started to be used, able to overcome obstacles and move in complex environments. Nevertheless, these kinds of robots are more unstable and subject to external disturbances. For this reason, in this thesis, our main focus will be to investigate disturbance rejection strategies for a particular type of mobile base robots: the limbed parallel robots. These robots comprise a mobile floating base that is connected to a fixed base by some independent kinematic chains, referred to as limbs. This category encompasses both legged and cable-driven parallel robots, which have demonstrated the ability to overcome many of the limitations associated with wheeled robots. These robots are highly maneuverable and can navigate challenging terrains and obstacles with relative ease. -Quadruped robots: External disturbances, such as hitting the ground, can cause their fall. For this reason, a disturbance observer-based control is presented in this thesis. It presents a novel momentum-based observer that can deal with disturbances applied both to swing and stance legs. Then, an extension is developed, realizing a novel hybrid observer that integrates the previous estimation on the legs with a double observer on the center of mass. In this way, all kinds of disturbances acting on the robot are taken into account and compensated. -Cable-driven parallel robots: By replacing rigid links with cables, cable-driven parallel robots can expand their workspace and increase their load capacity. However, this modification comes at a cost of significant vibrations resulting from cable flexibility, which makes the robot susceptible to external disturbances that can disrupt its stability. To address this issue, this thesis proposes a model predictive controller for underconstrained cable-driven parallel robots that takes into account tension limits. This controller implementation enables the robot to approach the equilibrium point safely and smoothly, reducing the oscillatory movements caused by cable flexibility.
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