论文标题
使用控制Lyapunov和控制屏障功能的冗余机器人系统的任务优先控制基于二次程序
Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs
论文作者
论文摘要
本文为基于控制Lyapunov函数（CLF）和基于控制屏障功能（CBF）的二次程序（QPS）的层次结构的冗余机器人系统提供了新的任务优先控制框架。所提出的方法保证了不同的任务组之间的严格优先级，例如安全相关，操作和优化任务。此外，可以采用惩罚参数形式的软优先级度量，以优先在相同的优先级级别对任务进行优先级。与运动学控制方案相反，提出的框架是控制冗余机器人系统的整体方法，该方法可以同时解决冗余分辨率，动态控制和控制分配问题。提出了超冗余的明确干预自动水下车辆（AIAUV）的数值模拟，以验证提出的框架。
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.
