2023/12/08 by Iyer Venkataraman Natarajan, Natarajan, Iyer Venkataraman
Decision Sciences · Engineering · #FOS: Computer and information sciences #Real-time simulation and control systems #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Simulation Techniques and Applications
paper · pdf · doi:10.48550/arxiv.2312.04967
openalex publication_date 2023/12/08 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment factors such as disturbances and this requires the robot to have a control system that is robust. Testing control algorithms on robots in real world environment can pose critical safety issues and can be financially expensive. This has resulted in a heavy emphasis on using simulation to test control algorithms before deploying them in real world environments. Designing control algorithms is an iterative process that starts with modelling the target system in simulation, designing a controller, testing the controller in simulation and then changing the controller parameters to design a better controller. This report explores how an approximated system model of a target hardware system can be developed, which can then be used to design a LQR controller for the target system. The controller is then tested under a disturbance, on hardware and in simulation, and the system response is recorded. The system response from hardware and simulation are then compared to validate the use of approximated system models in simulation for designing and testing control algorithms.