Work

Differential-Algebraic Equation Control Barrier Function for Flexible Link Manipulator

Year: 2024

Type: conference-paper

Abstract: This paper presents a control barrier function (CBF) for systems described by differential-algebraic equations and applies the method to guarantee the safety of a two-link flexible-link manipulator. The two main contributions of the paper are: a) an extension of CBFs to systems governed by differential-algebraic equations; b) a framework for simulation of flexible-link robots in a floating frame of reference formulation (FFRF) finite element method (FEM). Numerical simulations demonstrate the minimally invasive safety control of a flexible two-link manipulator with position constraints through CBF quadratic programming without converting the differential-algebraic equations to a control-affine system.

Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI: 10.1109/iros58592.2024.10801482

Authors: Younghwa Park, Christoffer Sloth

Institution: University of Southern Denmark

Language: English

Topic: Dynamics and Control of Mechanical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: EUROfusion, European Commission, Euratom Research and Training Programme

Awards: G115085052, Implementation of activities described in the Roadmap to Fusion during Horizon Europe through a joint programme of the members of the EUROfusion consortium, G2293481551, G3562821882, G5172252545