Benchmark problem — nonlinear control of a 3-DOF robotic manipulator

Abstract

This document proposes the nonlinear control of an industrial three-degrees-of-freedom (3-DOF) robotic manipulator as a benchmark problem for controller synthesis methods, that are applicable to complex plants, but can provide implementation with low complexity. Full details on the nonlinear model of the industrial robotic manipulator Thermo CRS A465 are provided. Furthermore, a solution is presented by considering linear parameter-varying (LPV) controller synthesis based on a reduced parameter set. Stability and performance guarantees are rendered void as the plant's parameter dependency is first approximated by means of principle component analysis. The guarantees are recovered by tools which have previously been reported.