javax.robotics.engine.controllers
Class RobustControl

java.lang.Object
  javax.robotics.engine.JRoboOp
      javax.robotics.engine.controllers.RobustControl

All Implemented Interfaces:

Controller, JointController

public class RobustControl
extends JRoboOp
implements JointController

This class implements the Robust Control of joints position controller. The scheme of the control:

the dynamics model of robot: B(q)*q'' + n(q,q') = u, n(q,q') = C(q,q')*q'+ Fq'+ g(q)

the robustness w is computed as:

 w = ρ/z.vers() for |z.norm()| ≥ ε
 w = (ρ/ε)*z for |z.norm()| < ε
 

D is a 2*dof-by-dof matrix D= [O; I]
Q is the solution of Lyapunov equation: HT*Q + Q*H = -I where H is a 2*dof-by-2*dof matrix H = [O, I; -Kp, -Kd]
the inertia matrix B is constant;
the non linear compensation n(q,q') = Fv*q' + g(q) (viscous friction + gravity torques)

Wrapper class for C++ library ROBOOP.

Since:

1.0.4

Author:

Carmine Lia

Field Summary

Fields inherited from class javax.robotics.engine.JRoboOp

ID, Version

Fields inherited from interface javax.robotics.engine.controllers.JointController

WRONG_SIZE

Constructor Summary

RobustControl(Robot robot, DMatrix Kp, DMatrix Kd, Matrix B, double rho, double eps)
Robust control position controller class constructor.

RobustControl(Robot robot, DMatrix Kp, DMatrix Kd, Matrix B, Matrix Q, double rho, double eps)
Robust control position controller class constructor with a pre-computed solution of Lyapunov equation.

Method Summary

short	getID() Gets Controller class ID.
DMatrix	getKd() Gets the velocity error gain matrix.
DMatrix	getKp() Gets the position error gain matrix.
short	getRobotID() Gets Robot class ID linked to controller.
short	setKd(DMatrix Kd) Sets the velocity error gain matrix.
short	setKd(double[] Kd) Sets the velocity error gain matrix.
short	setKp(DMatrix Kp) Sets the position error gain matrix.
short	setKp(double[] Kp) Sets the position error gain matrix.
double[]	torqueCmd(double[]... qd) Sets the output torque for a desired joint position and velocity.
RVector	torqueCmd(RVector... qd) Sets the output torque for a desired joint position and velocity.

Methods inherited from class javax.robotics.engine.JRoboOp

acceleration, acceleration, createComputedTorqueMethod, createGravityCompensation, createImpedance, createPDGravityComp, createProportionalDerivative, createResolveRateAcceleration, createRobot, createRobot, createRobot, createRobot, createRobustControl, createSplinePath, createSplineQuaternion, dTdqi, getAvDof, getConverge, getDof, getError, getGravity, getPosErrorGCOMP, getPosErrorRRA, getQ, getQ, getQMax, getQMin, getQOffset, getQp, getQpp, getQuatErrorGCOMP, getQuatErrorRRA, impedanceControl, inertia, interpolate, interpolatePathQuat, interpolateQuat, invKine, invKine, jacobian, jacobian, jacobianDLSinv, jacobianDot, jacobianDot, kine, kine, setGravity, setKdCTM, setKdPD, setKdPDG, setKdRC, setKpCTM, setKpPD, setKpPDG, setKpRC, setQ, setQ, setQp, setQpp, torque, torque, torqueCmdCTM, torqueCmdGCOMP, torqueCmdGCOMP, torqueCmdPD, torqueCmdPDG, torqueCmdRC, torqueCmdRRA, torqueCmdRRA, torqueCoriolis, torqueCoulombFriction, torqueGravity, torqueViscousFriction

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

RobustControl

public RobustControl(Robot robot,
                     DMatrix Kp,
                     DMatrix Kd,
                     Matrix B,
                     double rho,
                     double eps)

Robust control position controller class constructor. The constructor computes the solution of Lyapunov equation by inner function Matrix.lyap(Matrix) but it could fail.

Parameters:

robot - Robot class.

Kp - diagonal matrix joint position error gain matrix.

Kd - diagonal matrix joint velocity error gain matrix.

B - a constant robot inertia matrix.

rho - the robustness gain.

eps - the chattering compensation.

See Also:

Matrix.lyap(Matrix)

RobustControl

public RobustControl(Robot robot,
                     DMatrix Kp,
                     DMatrix Kd,
                     Matrix B,
                     Matrix Q,
                     double rho,
                     double eps)

Robust control position controller class constructor with a pre-computed solution of Lyapunov equation.

Parameters:

robot - Robot class.

Kp - diagonal matrix joint position error gain matrix.

Kd - diagonal matrix joint velocity error gain matrix.

B - a constant robot inertia matrix.

Q - the solution of Lyapunov equation.

rho - the robustness gain.

eps - the chattering compensation.

See Also:

Matrix.lyap(Matrix)

Method Detail

getID

public final short getID()

Gets Controller class ID.

Specified by:

getID in interface Controller

Specified by:

getID in class JRoboOp

Returns:

ID

getRobotID

public final short getRobotID()

Description copied from interface: Controller

Gets Robot class ID linked to controller.

Specified by:

getRobotID in interface Controller

Returns:

ID

getKp

public final DMatrix getKp()

Description copied from interface: JointController

Gets the position error gain matrix.

Specified by:

getKp in interface JointController

Returns:

position error gain diagonal matrix

getKd

public final DMatrix getKd()

Description copied from interface: JointController

Gets the velocity error gain matrix.

Specified by:

getKd in interface JointController

Returns:

velocity error gain diagonal matrix

setKp

public short setKp(DMatrix Kp)

Description copied from interface: JointController

Sets the position error gain matrix.

Call C++ method

set_Kp(const DiagonalMatrixr &Kp)

Specified by:

setKp in interface JointController

Parameters:

Kp - position error gain diagonal matrix

Returns:

0 or WRONG_SIZE

setKp

public short setKp(double[] Kp)

Sets the position error gain matrix.

Parameters:

Kp - position error gain diagonal matrix

Returns:

0 or WRONG_SIZE

setKd

public short setKd(DMatrix Kd)

Description copied from interface: JointController

Sets the velocity error gain matrix.

Call C++ method

set_Kd(const DiagonalMatrixr &Kd)

Specified by:

setKd in interface JointController

Parameters:

Kd - velocity error gain diagonal matrix

Returns:

0 or WRONG_SIZE

setKd

public short setKd(double[] Kd)

Sets the velocity error gain matrix.

Parameters:

Kd - velocity error gain diagonal matrix

Returns:

0 or WRONG_SIZE

torqueCmd

public double[] torqueCmd(double[]... qd)

Sets the output torque for a desired joint position and velocity.

Specified by:

torqueCmd in interface JointController

Parameters:

qd - array of desired joints position, joints velocity and joints acceleration.

Returns:

torque.

torqueCmd

public RVector torqueCmd(RVector... qd)

Sets the output torque for a desired joint position and velocity.

Specified by:

torqueCmd in interface JointController

Parameters:

qd - array of desired joints position, joints velocity and joints acceleration.

Returns:

torque.