Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots
Sufficient conditions for the Lipschitz continuity of QP-based multi-objective control of humanoid robots
复制标题
基于QP的仿人机器人多目标控制Lipschitz连续性的充分条件
DOI：
10.1109/cdc.2013.6760327
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
A. Ames
中科院分区：
文献类型：
--
作者：
B. Morris;Matthew J. Powell;A. Ames
在本文中，我们分析了连续性的反馈控制器，制定为状态相关的二次规划（QP），具体应用于人形机器人的运动控制。为了同时实现多个目标的运动和操作，我们开发了一个广义的基于QP的控制律，通过使用多个控制李雅普诺夫函数（CLF）。出于模拟研究表明基于QP的控制失去Lipschitz连续性的情况下，本文的主要结果是一组充分条件下，这种连续性将举行。这一结果提供了条件下，任何数量的任务编码为CLF可以同时指数稳定。最后，这些结果表明，在一个简单的仿人机器人爬垂直梯子的模拟。
In this paper we analyze the continuity properties of feedback controllers that are formulated as state-dependent quadratic programs (QP), with specific application to motion control for humanoid robots. With a desire to achieve multiple simultaneous goals in locomotion and manipulation, we develop a generalized QP-based control law through the use of multiple control Lyapunov functions (CLFs). Motivated by simulation studies showing cases where QP-based control loses Lipschitz continuity, the main result of this paper is a set of sufficient conditions under which such continuity properties will hold. This result provides conditions under which any number of tasks encoded as CLFs can be simultaneously exponentially stabilized. Finally, these results are demonstrated in a simulation of a simple humanoid robot climbing a vertical ladder.