In almost all mechatronic devices, safety is a fundamental requirement. Unpredicted system behavior resultant from control instability may potentially damage objects or even harm human users. To certify that the system will remain stable under predefined conditions is not only desirable but mandatory for systems like jet engines and wearable robots (e.g., robotic prosthesis and exoskeleton robots). The certification of control algorithms is already a standard procedure in some engineering fields, such as aviation. In robotics, however, a certification procedure is not yet traditionally incorporated in the control design. To fill this gap is an essential step towards making robots, especially those that closely interact with human beings, largely available on the market and endorsed by the public in general. This paper uses the \(\nu \)-gap metric and the generalized stability margin to assess the stability of a closed-loop linear system, accounting for differences between plants. A novel iterative certification procedure based on these two techniques is proposed, combined with optimization techniques to reduce conservatism. The procedure is demonstrated on a real 1-DoF hydraulically actuated platform.

在几乎所有机电设备中，安全是一项基本要求。控制不稳定导致的不可预测的系统行为可能会损坏物体甚至伤害人类用户。为了证明系统将在预定条件下保持稳定不仅是可取的，而且对于喷气发动机和可穿戴机器人（例如机器人假肢和外骨骼机器人）等系统来说也是必需的。控制算法的认证已经是一些工程领域的标准程序，例如航空。然而，在机器人技术中，传统上尚未将认证程序纳入控制设计。填补这一空白是制造机器人的重要一步，特别是那些与人类密切互动的机器人，这些机器人主要在市场上销售并得到公众的普遍认可。本文使用\(\nu \)-gap 度量和广义稳定性裕度，用于评估闭环线性系统的稳定性，考虑植物之间的差异。提出了一种基于这两种技术的新型迭代认证程序，并结合优化技术来减少保守性。该程序在真实的 1-DoF 液压驱动平台上进行了演示。