论文标题
动态机器人技术的强大安全控制控制
Robust Safety-Critical Control for Dynamic Robotics
论文作者
论文摘要
我们通过二次程序提出了一种新颖的方法，可通过二次程序进行最佳的稳健控制，该方法提供了跟踪稳定性，同时受到输入和基于州的约束以及在模型不确定性存在下对非线性动力学机器人系统的安全至关重要约束。提出的方法为在模型不确定性存在下提供了稳健的控制Lyapunov和屏障功能，以确保稳定性和安全性。我们评估了我们提出的控制设计，以动态步行对五连锁平面双足机器人的动态步行，受到接触力限制的约束，以及在踏脚石上的安全至关重要的精确脚部位置，同时均受模型不确定性的约束。我们在不同类型的模型不确定性和扰动下对拟议控制器进行初步实验验证。
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems in the presence of model uncertainty. The proposed method formulates robust control Lyapunov and barrier functions to provide guarantees of stability and safety in the presence of model uncertainty. We evaluate our proposed control design on dynamic walking of a five-link planar bipedal robot subject to contact force constraints as well as safety-critical precise foot placements on stepping stones, all while subject to model uncertainty. We conduct preliminary experimental validation of the proposed controller on a rectilinear spring-cart system under different types of model uncertainty and perturbations.
