Cristin-resultat-ID: 1830684
Sist endret: 19. april 2021, 14:08
NVI-rapporteringsår: 2021
Resultat
Vitenskapelig artikkel
2021

Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs

Bidragsytere:
  • Erlend Andreas Basso og
  • Kristin Ytterstad Pettersen

Tidsskrift

IFAC-PapersOnLine
ISSN 2405-8963
e-ISSN 2405-8963
NVI-nivå 1

Om resultatet

Vitenskapelig artikkel
Publiseringsår: 2021
Publisert online: 2021
Open Access

Klassifisering

Vitenskapsdisipliner

Teknisk kybernetikk • Teknologi

Emneord

Undervannsrobotikk • Robotikk

Beskrivelse Beskrivelse

Tittel

Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs

Sammendrag

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.

Bidragsytere

Erlend Andreas Basso

  • Tilknyttet:
    Forfatter
    ved Institutt for teknisk kybernetikk ved Norges teknisk-naturvitenskapelige universitet

Kristin Ytterstad Pettersen

  • Tilknyttet:
    Forfatter
    ved Institutt for teknisk kybernetikk ved Norges teknisk-naturvitenskapelige universitet
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