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Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach

Wang, Yongchao and Liu, Yang and Leibold, Marion and Buss, Martin and Lee, Jinoh (2024) Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach. IEEE Transactions on Robotics, 40, pp. 2128-2148. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2024.3370049. ISSN 1552-3098.

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Official URL: https://ieeexplore.ieee.org/document/10449433


This article presents a model predictive control (MPC) method for redundant robots controlling multiple hierarchical tasks formulated as multilayer constrained optimal control problems (OCPs). The proposed method, named hierarchical incremental MPC (HIMPC), is robust to dynamic uncertainties, untethered from kinematic/algorithmic singularities, and capable of handling input and state constraints such as joint torque and position limits. To this end, we first derive robust incremental systems that approximate uncertain system dynamics without computing complex nonlinear functions or identifying model parameters. Then, the constrained OCPs are cast as quadratic programming problems which result in linear MPC, where dynamically-consistent task priority is achieved by deploying equality constraints and optimal control is attained under input and state constraints. Moreover, hierarchical feasibility and recursive feasibility are theoretically proven. Since the computational complexity of HIMPC drastically decreases compared with nonlinear MPC-based methods, it is implemented under the sampling frequency of 1 kHz for physical experiments with redundant manipulator setups, where robustness (high tracking accuracy and enhanced dynamic consistency), admissibility of multiple constraints, and singularity-avoidance nature are demonstrated and compared with state-of-the-art task-prioritized controllers.

Item URL in elib:https://elib.dlr.de/203423/
Document Type:Article
Title:Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Wang, YongchaoTUMhttps://orcid.org/0000-0001-9738-3076UNSPECIFIED
Liu, YangTUMhttps://orcid.org/0009-0000-9982-5819UNSPECIFIED
Leibold, MarionTUMhttps://orcid.org/0000-0002-2802-5600UNSPECIFIED
Buss, MartinTUMhttps://orcid.org/0000-0002-1776-2752UNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095156181953
Date:27 February 2024
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 2128-2148
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Incremental system, model predictive control (MPC), redundant robots, task prioritized control, time-delay estimation.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO], R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lee, Dr. Jinoh
Deposited On:25 Mar 2024 11:11
Last Modified:25 Mar 2024 11:11

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