Robust Energy Aware Output Controller for Uncertain Plant

Abstract

Nowadays, safety guarantee during physical Human-Robot Interaction (pHRI) is important problem. Control over energy becomes very useful approach and provides possibility of safety conditions implementation but requires measurement of energy variables. In this paper we extend our previous results for discrete robust output control algorithm by insertion of energy aware mechanism in the structure of control system. It is proven earlier that this way make the controller aware of the energy that they inject into the plant. By combining this approaches we introduce here a robust discrete-time output controller for uncertain plant that provides exponential convergence of tracking error to the bounded area and passivity of the closed loop system. The proposed approach is validated through simulation and experiments using Ball-and-Plate setup.