Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs
Year: 2020
Type: article
Abstract: This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method guarantees strict priority among different groups of tasks such as safety-related, operational and optimization tasks. Moreover, a soft priority measure in the form of penalty parameters can be employed to prioritize tasks at the same priority level. As opposed to kinematic control schemes, the proposed framework is a holistic approach to control of redundant robotic systems, which solves the redundancy resolution, dynamic control and control allocation problems simultaneously. Numerical simulations of a hyper-redundant articulated intervention autonomous underwater vehicle (AIAUV) is presented to validate the proposed framework.
Source: IFAC-PapersOnLine
Authors: Erlend A. Basso, Kristin Y. Pettersen
Institution: Norwegian University of Science and Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
Funder: Norges Forskningsråd
Award: G540237164
OpenAlex ID: W3001280907