Direct Design of Human Skill and Its Implementation on Robot Using Model-free Controller Synthesis

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This research proposed the controller tuning method from human operation data without constructing any mathematical model. Since the mathematical model is not constructed, we have no idea in advance of the controller implementation whether the designed controller actually stabilizes the controlled plant or not. Firstly, as a basic study, the evaluation method of the closed-loop stability from the input/output data of the controlled plant was proposed, and it was incorporated into the nonlinear and the linear optimization problem for the controller tuning. Moreover, in the case of the linear optimization problem, the controller parameter tuning method guaranteeing the closed-loop stability was proposed.