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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: Robotics: Science and Systems (RSS 2020). Robotics: Science and Systems (RSS) 2020, 12.-16. Jul. 2020, Corvallis, Oregon, USA (virtual due to Corona Pandemic). ISSN 2330765X.

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Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Englsberger, JohannesJohannes.Englsberger (at) dlr.deUNSPECIFIED
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Mesesan, George-AdrianGeorge.Mesesan (at) dlr.dehttps://orcid.org/0000-0001-5110-2988
Garofalo, Gianlucagianluca.garofalo (at) dlr.dehttps://orcid.org/0000-0002-7481-3464
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:2020
Journal or Publication Title:Robotics: Science and Systems (RSS 2020)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
ISSN:2330765X
Status:Published
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:08 Mar 2022 15:46

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