Robust integrated design for dynamic systems in engineering design

Miguel G. Villarreal-Cervantes, Carlos A. Cruz-Villar, Jaime Álvarez-Gallegos

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper a robust integrated design methodology for dynamic systems is formulated. The proposed methodology can be applied to design both the system and the control parameters, thus allowing for an optimization based integrated system and controller design under uncertainties or unknown parameters. This design methodology is used to simultaneously design the links of a five revolute two degree of freedom parallel robot and the gains of its control system such that the position error and the manipulability measure are as insensible as possible to variations at the end-effector's loads. Simulation results show the effectiveness of the proposed methodology compared with a non-robust integrated design.

Original languageEnglish
Title of host publicationISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
Pages1943-1949
Number of pages7
DOIs
StatePublished - 2010
Event2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy
Duration: 4 Jul 20107 Jul 2010

Publication series

NameIEEE International Symposium on Industrial Electronics

Conference

Conference2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Country/TerritoryItaly
CityBari
Period4/07/107/07/10

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