DCINCO 2016 Abstracts

Short Papers
Paper Nr: 1

Robot Control for Nonprehensile Dynamic Manipulation Tasks


Diana Serra

Abstract: The robotic manipulation problem aims at finding a set of suitable controls to change the state of an object from an initial to a desired configuration. Manipulating in a nonprehensile way means that the object is not directly caged between the fingertips or the palm of the hand. The class of nonprehensile dynamic manipulation problems is still rather far from being fully solved and applied in robotic applications. In this kind of manipulation it cannot be always closed a kinematic chain, with the drawback of not having always a direct kinematics available. Besides, when one of more contacts change their status, the dynamics of the system changes in a non-smooth manner making difficult the choice of a good control law. Passivity-based approaches and robust optimal control methods are currently inspected to deal with the classes of nonprehensile rolling and impact systems. The aim of this work is twofold: on one hand, to contribute to identify classes of control frameworks solving appropriate nonprehensile dynamic manipulation tasks, dealing with the non linearity of their dynamic models and with the complexity of the control design; on the other hand, a technological challenge is also addressed for implementing the designed control actions on a physical prototype, that is performing a number of nonprehensile dynamic tasks on a mobile dual-arm/hands robotic platform.

Paper Nr: 2

Active Disturbance Rejection Robust Control for Uncertain Systems. Case: Floating Offshore Wind Turbine


Jose Jorge Carreño Zagarra and Villamizar Mejía Rodolfo

Abstract: Interest in the development of wind energy has grown widely around the world in the last two decades. Therefore , due to the significant increase in the number of wind turbines connected to the network , new technology aimed to guarantee the quality of the power system and stability have become not only an important area of research and development, but a necessity. Due to strong variations of the wind speed, abrupt disturbances in electric charge, nonlinearities of the dynamics of the turbines and constraints of the actuators, the controller design speed wind turbines it is not an easy task and usually requires the study of advanced control techniques . In this work a new scheme of robust control involving the concepts of differential flatness, active disturbance rejection and Quantitative Control Theory (QFT) is proposed to maximize the energy efficiency of wind generation system in the presence of parametric uncertainty and strong wind disturbances. Robust controllers designed will be implemented in offshore wind turbines belonging to the University of Stuttgart. The research will be conducted in collaboration with a team of expert researchers in the field of modeling and control of wind turbines at the University of Stuttgart.