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-SchaefferAbstract:
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.
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} }