Robotics: Science and Systems XVI

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

Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schaeffer

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.

Download:

Bibtex:

  
@INPROCEEDINGS{Englsberger-RSS-20, 
    AUTHOR    = {Johannes Englsberger AND Alexander Dietrich AND George Mesesan AND Gianluca Garofalo AND Christian Ott AND Alin  Albu-Schaeffer}, 
    TITLE     = {{MPTC – Modular Passive Tracking Controller for stack of tasks based control frameworks}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2020}, 
    ADDRESS   = {Corvalis, Oregon, USA}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2020.XVI.077} 
}