Controller design for multiple simultaneous specifications with applications to robotic systems

Abstract

In a practical controller design problem, several different performance requirements may be encountered together. The goal is to find a controller such that the multiple design specifications, which technically represent the requirements, can be met simultaneously. Such a control problem is called the multiple simultaneous specification (MSS) design problem. Many controller design approaches are proposed to improve the system performance. However, in the robot control area, there is no single design method that can treat a wide range of specifications simultaneously. This paper is concerned with controller design which solves the MSS problem. In this proposed convex combination method, the compromise solution is obtained by properly combining the existing controllers (or control techniques). The design strategy is straightforward and easily implemented. As an illustration, a robotic system is given as an example, and a set of specifications is simultaneously satisfied with the application of this proposed method.