Self-Tuning Robot Control Based on Subspace Identification

The paper describes the use of subspace based
identification methods for auto tuning of a state space control system.
The plant is an unstable but self balancing transport robot. Because
of the unstable character of the process it has to be identified
from closed loop input-output data. Based on the identified model
a state space controller combined with an observer is calculated. The
subspace identification algorithm and the controller design procedure
is combined to a auto tuning method. The capability of the approach
was verified in a simulation experiments under different process
conditions.

Authors:

• Mathias Marquardt
• Peter Dünow
• Sandra Baßler

Keywords:

• Auto tuning
• balanced robot
• closed loop identification
• subspace identification.

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