Optimal Robust Time-Varying Safety-Critical Control With Application to Dynamic Walking on Moving Stepping Stones
Optimal Robust Time-Varying Safety-Critical Control With Application to Dynamic Walking on Moving Stepping Stones
复制标题
最佳鲁棒时变安全关键控制及其在移动垫脚石上动态行走的应用
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
K. Sreenath
中科院分区：
文献类型：
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作者：
Quan Nguyen;K. Sreenath
本文提出了一种新的方法来处理时变的安全关键的约束下，高层次的模型不确定性与应用程序的动态双足步行严格的脚放置的限制。本文建立了最优鲁棒控制，通过二次规划，可以处理稳定性，输入/状态相关的约束，以及安全关键的约束，在存在高水平的模型不确定性的最新工作。在不确定性有界的假设下，所提出的控制器严格保证时变约束而不违反它们。我们评估我们提出的控制设计，以实现动态行走的欠驱动双足机器人受到（a）转矩饱和约束（输入约束），（B）接触力约束（状态约束），和（c）精确的时变脚步位置（时变和safetycrical约束）。我们提出的数值结果兔子，一个五连杆平面双足机器人，其躯干上的一个大的未知负载。我们提出的控制器是能够证明行走，同时严格执行上述约束与未知负载高达15公斤（47%的机器人质量）。
This paper presents a novel methodology to handle timevarying safety-critical constraints under high level of model uncertainty with application to dynamic bipedal walking with strict foot-placement constraints. This paper builds off recent work on optimal robust control through quadratic programs that can handle stability, input / state dependent constraints, as well as safety-critical constraints, in the presence of high level of model uncertainty. Under the assumption of bounded uncertainty, the proposed controller strictly guarantees time-varying constraints without violating them. We evaluate our proposed control design for achieving dynamic walking of an underactuated bipedal robot subject to (a) torque saturation constraints (input constraints), (b) contact force constraints (state constraints), and (c) precise time-varying footstep placements (time-varying and safetycritical constraints). We present numerical results on RABBIT, a five-link planar bipedal robot, subject to a large unknown load on its torso. Our proposed controller is able to demonstrate walking while strictly enforcing the above constraints with an unknown load of up to 15 Kg (47% of the robot mass.)