ROBUST, NON-OVERSHOOTING CONTROL OF A RIGID ROTATING LINK USING EXPONENTIAL SEGMENTATION

摘要

Exponential pyramid architecture plays a key role in human visual processing, as well as in learned muscle movement. Attempting to mimic the human capacity for making rapid minimally-overshooting movements, a variant of exponential pyramid architecture, called exponential segmentation, is utilized to develop a methodology for controlling the response of rigid links to step inputs. The resulting method consists of issuing iterative open-loop commands, each of which are guaranteed not to overshoot the desired target. Each time the mechanism comes to a stop, a new open loop command is issued that again drives the mechanism toward the desired final position without overshoot. Since this method always undershoots the target, the process is repeated until the link is within a specified interval of the desired final position. Using this framework, a designer can easily make tradeoffs between response and robustness, as this method is robust with respect to input perturbations, pivot friction, link inertia and damping rates. Furthermore, this method can be implemented using positional measurement alone.