Control Systems and Robotics Engineering

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Reducing Uncertainties Using Robust Control

Introduction

There are many uncertainties that affect the functioning of control systems that are used in robotics.  It is for this reason that robust control is utilized to respond to these uncertainties to make sure that the functioning of the systems remains at the maximum and that disruptions are effectively eliminated. In robust control, the main concern of engineers is about improving controllability, stability and observability. Controllability is all about moving the system from a current state to a desired one while observability defines the ability to visualize all parameters that are available in a given system. Stability is concerned about the bounded response of a system following a bounded input. A success robust control is characterized by the ability to maintain all this properties which are very critical in all systems. This also makes it possible to achieve more success in predictable remote operation in cases where join failures are involved. The main devices that are used in this case include; automatic excavation and multiple manipulators that end up being used in one object. This is a good introduction that has made it possible to improve remote control of robotics used in environments determined to be hazardous.

Robust control happens to be a method that aims at bounding the available uncertainty instead of expressing it in a distribution manner. Following a bound of the uncertainity, it becomes possible to deliver results that are in line with the requirements of a system in all cases. It is for this reason that robust control theory can be described as worst-case analysis technique instead of being taken as a typical case method. In robust control, some performance may end up being sacrificed to make sure that certain requirements of the system are met. However, this type of sacrifice is a common in cases involving safety embedded systems (Pothukuchi, Pothukuchi, Voulgaris & Torrellas, 2017).

Statement of Purpose

There is thus a need to research on robust control of systems as this is a chance to develop optimized systems to help solve the common problems that are being experienced in the robotics industry. The research will try to find out the available potential in robust control that can be manipulated to develop effective control systems that can be used in the varied environments. It is true that the available control systems are effective in the various roles where they are used but robust control is meant to add to their current success in terms of efficiency and productivity.

There is a special concern for extreme operations that occur in embedded control system which are known to have safety implication. It is in such extremes that uncertainty happens to be high and robust control has a special application in this case. It is true that there have been a lot of research about robust control and through this; a various techniques have been developed. There have been a number of tools for use in general industry but a number of issues to do with correctness of these tools especially when they are used to simplify system that are complex in nature. Further research is intended to make improvements on the current robust control method to make sure that improved processes and tools are in place as a good way to close or minimize the gap that exist between robust control theory and its varied application.

 

 

References:

Pothukuchi, R. P., Pothukuchi, S. Y., Voulgaris, P., & Torrellas, J. (2017, September).

Multilayer Compute Resource Management with Robust Control Theory. In Parallel Architectures and Compilation Techniques (PACT), 2017 26th International Conference on (pp. 376-376). IEEE.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

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