Multi-Objective Admittance Control: An LMI-Based Method

Wulin Zou; Xiang Chen; Shilei Li; Pu Duan; Ningbo Yu; Ling Shi

doi:10.1109/ICARM54641.2022.9959352

Multi-Objective Admittance Control: An LMI-Based Method

Wulin Zou
, Xiang Chen
, Shilei Li
, Pu Duan
, Ningbo Yu^*
, Ling Shi

^*Corresponding author for this work

Hong Kong University of Science and Technology
Xeno Dynamics
University of Windsor
Nankai University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

Robust and stable admittance control is critically important in physical human-robot interaction. However, there are inherent structural flaws for the conventional admittance control, where tradeoff should be made among admittance performance (accuracy and passivity) and robustness. This paper addresses the dilemma for the multi-objective optimization problem in admittance control. Firstly, a complementary admittance control framework is proposed with decoupled design freedoms of admittance performance and robustness. Then, LMI-based optimization algorithms are developed to find the controller gains satisfying respective constraints. Finally, simulations are conducted to show the efficacy of the proposed method.

Original language	English
Title of host publication	ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	754-759
Number of pages	6
ISBN (Electronic)	9781665483063
DOIs	https://doi.org/10.1109/ICARM54641.2022.9959352
Publication status	Published - 2022
Externally published	Yes
Event	7th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2022 - Guilin, China Duration: 9 Jul 2022 → 11 Jul 2022

Publication series

Name	ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics

Conference

Conference	7th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2022
Country/Territory	China
City	Guilin
Period	9/07/22 → 11/07/22

Access to Document

10.1109/ICARM54641.2022.9959352

Cite this

Zou, W., Chen, X., Li, S., Duan, P., Yu, N., & Shi, L. (2022). Multi-Objective Admittance Control: An LMI-Based Method. In ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics (pp. 754-759). (ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM54641.2022.9959352

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title = "Multi-Objective Admittance Control: An LMI-Based Method",

abstract = "Robust and stable admittance control is critically important in physical human-robot interaction. However, there are inherent structural flaws for the conventional admittance control, where tradeoff should be made among admittance performance (accuracy and passivity) and robustness. This paper addresses the dilemma for the multi-objective optimization problem in admittance control. Firstly, a complementary admittance control framework is proposed with decoupled design freedoms of admittance performance and robustness. Then, LMI-based optimization algorithms are developed to find the controller gains satisfying respective constraints. Finally, simulations are conducted to show the efficacy of the proposed method.",

author = "Wulin Zou and Xiang Chen and Shilei Li and Pu Duan and Ningbo Yu and Ling Shi",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 7th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2022 ; Conference date: 09-07-2022 Through 11-07-2022",

year = "2022",

doi = "10.1109/ICARM54641.2022.9959352",

language = "English",

series = "ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics",

address = "United States",

}

Zou, W, Chen, X, Li, S, Duan, P, Yu, N & Shi, L 2022, Multi-Objective Admittance Control: An LMI-Based Method. in ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics. ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics, Institute of Electrical and Electronics Engineers Inc., pp. 754-759, 7th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2022, Guilin, China, 9/07/22. https://doi.org/10.1109/ICARM54641.2022.9959352

Multi-Objective Admittance Control: An LMI-Based Method. / Zou, Wulin; Chen, Xiang; Li, Shilei et al.
ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2022. p. 754-759 (ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Multi-Objective Admittance Control

T2 - 7th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2022

AU - Zou, Wulin

AU - Chen, Xiang

AU - Li, Shilei

AU - Duan, Pu

AU - Yu, Ningbo

AU - Shi, Ling

PY - 2022

Y1 - 2022

N2 - Robust and stable admittance control is critically important in physical human-robot interaction. However, there are inherent structural flaws for the conventional admittance control, where tradeoff should be made among admittance performance (accuracy and passivity) and robustness. This paper addresses the dilemma for the multi-objective optimization problem in admittance control. Firstly, a complementary admittance control framework is proposed with decoupled design freedoms of admittance performance and robustness. Then, LMI-based optimization algorithms are developed to find the controller gains satisfying respective constraints. Finally, simulations are conducted to show the efficacy of the proposed method.

AB - Robust and stable admittance control is critically important in physical human-robot interaction. However, there are inherent structural flaws for the conventional admittance control, where tradeoff should be made among admittance performance (accuracy and passivity) and robustness. This paper addresses the dilemma for the multi-objective optimization problem in admittance control. Firstly, a complementary admittance control framework is proposed with decoupled design freedoms of admittance performance and robustness. Then, LMI-based optimization algorithms are developed to find the controller gains satisfying respective constraints. Finally, simulations are conducted to show the efficacy of the proposed method.

UR - https://www.scopus.com/pages/publications/85143675423

U2 - 10.1109/ICARM54641.2022.9959352

DO - 10.1109/ICARM54641.2022.9959352

M3 - Conference contribution

AN - SCOPUS:85143675423

T3 - ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics

SP - 754

EP - 759

BT - ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 9 July 2022 through 11 July 2022

ER -

Zou W, Chen X, Li S, Duan P, Yu N, Shi L. Multi-Objective Admittance Control: An LMI-Based Method. In ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2022. p. 754-759. (ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics). doi: 10.1109/ICARM54641.2022.9959352

Multi-Objective Admittance Control: An LMI-Based Method

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