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MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks

Englsberger, Johannes and Dietrich, Alexander and Mesesan, George-Adrian and Garofalo, Gianluca and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2020) MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. In: 16th Robotics: Science and Systems, RSS 2020. Robotics: Science and Systems (RSS) 2020, 12.-16. Jul. 2020, Corvallis, Oregon, USA (virtual due to Corona Pandemic). doi: 10.15607/RSS.2020.XVI.077. ISBN 978-0-9923747-6-1. ISSN 2330-765X.

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This work introduces the so-called Modular Passive Tracking Controller (MPTC), a generic passivity-based controller, which aims at independently fulfilling several subtask objectives. These are combined in a stack of tasks (SoT) that serves as a basis for the synthesis of an overall system controller. The corresponding analysis and controller design are based on Lyapunov theory. An important contribution of this work is the design of a specific optimization weighting matrix that ensures passivity of an overdetermined and thus conflicting task setup. The proposed framework is validated through simulations and experiments for both fixed-base and free-floating robots.

Item URL in elib:https://elib.dlr.de/136932/
Document Type:Conference or Workshop Item (Speech)
Title:MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074146998595
Mesesan, George-AdrianUNSPECIFIEDhttps://orcid.org/0000-0001-5110-2988UNSPECIFIED
Garofalo, GianlucaUNSPECIFIEDhttps://orcid.org/0000-0002-7481-3464UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115826
Journal or Publication Title:16th Robotics: Science and Systems, RSS 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:MPTC, Modular, Passive, Tracking, Controller, stack of tasks, Passivity, torque-control
Event Title:Robotics: Science and Systems (RSS) 2020
Event Location:Corvallis, Oregon, USA (virtual due to Corona Pandemic)
Event Type:international Conference
Event Dates:12.-16. Jul. 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Englsberger, Dr.-Ing. Johannes
Deposited On:28 Oct 2020 16:31
Last Modified:20 Nov 2023 09:20

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