---
readstatus: false
dateread:
title: "Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization"
year: 2020
authors:

  
  - "Farzan, Siavash"
  
  - "Hu, Ai-Ping"
  
  - "Bick, Michael"
  
  - "Rogers, Jonathan"
  

citekey: "farzanRobustControlSynthesis2020"







pages: 7744-7751

---
# Indexing Information
## DOI
[10.1109/IROS45743.2020.9341348](https://doi.org/10.1109/IROS45743.2020.9341348)
## ISBN
[](https://www.isbnsearch.org/isbn/)
## Tags:
#Actuators, #Cable-TV, #Feedback-control, #Optimization, #Parametric-statistics, #Trajectory, #Uncertainty

>[!Abstract]
>Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for brachiating on flexible cables, building on previous work on optimal trajectory generation and time-varying LQR controller design. We propose a novel simplified model for approximation of the flexible cable dynamics, which enables inclusion of parametric model uncertainties in the system. We then use semidefinite programming (SDP) and sum-of-squares (SOS) optimization to synthesize a time-varying feedback control with formal robustness guarantees to account for model uncertainties and unmeasurable states in the system. Through simulation, hardware experiments and comparison with a time-varying LQR controller, it is shown that the proposed robust controller results in relatively large robust backward reachable sets and is able to reliably track a pre-generated optimal trajectory and achieve the desired brachiating motion in the presence of parametric model uncertainties, actuator limits, and unobservable states.

>[!note] Markdown Notes
>None!

>[!seealso] Related Papers
>

# Annotations

### Imported: 2024-10-16 10:34 am