1.9 KiB
| readstatus | dateread | title | year | authors | citekey | pages | ||||
|---|---|---|---|---|---|---|---|---|---|---|
| false | Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization | 2020 |
|
farzanRobustControlSynthesis2020 | 7744-7751 |
Indexing Information
DOI
10.1109/IROS45743.2020.9341348
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