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Robotic controller design for sporadic events using large deviations theory

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Abstract

A robot is a coupled nonlinear system, which heavily depends on the trajectory tracking to perform the desired task. Therefore, to make the robot follow the desired trajectory with the use of controllers has become an onerous task. In this paper, a novel application of large deviation theory to control a nonlinear dynamical robotic system is presented. The torque input is considered to be corrupted with Poisson and Gaussian noise. The large deviation principle is applied to find the approximate small-amplitude exit probability of the noisy trajectory from the desired defined boundaries. Afterward, the exit probability is used to discover the optimal controller coefficients acceptable for specified boundaries. The designed controller limits the exit of the trajectory under the desired range. Evaluation of proposed approach is presented through the stability and performance analysis. Finally, the presented research is experimentally validated using MATLAB simulations with different trajectories and implemented on commercially available Omni bundle robot.

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All related data are available in the manuscript.

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Authors and Affiliations

  1. ECE Department, Maharaja Agrasen Institute of Technology, Guru Gobind Singh Indraprastha University, New Delhi, India

    Rohit Rana

  2. ME Department, Amity University Uttar Pradesh, Noida, India

    Rohit Singla

  3. ECE Department, Netaji Subhas University of Technology, New Delhi, India

    Harish Parthasarathy

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  1. Rohit Rana
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Rana, R., Singla, R. & Parthasarathy, H. Robotic controller design for sporadic events using large deviations theory. Nonlinear Dyn 110, 2481–2499 (2022). https://doi.org/10.1007/s11071-022-07758-z

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