Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled humanoid where model inaccuracies, sensor noise and real-time computation requirements can be problematic. Using a reformulation of existing algorithms, we propose a simplification of the problem that allows to achieve real-time control. Momentum-based control is integrated in the task hierarchy and a LQR design approach is used to compute the desired associated closed-loop behavior and improve performance. Extensive experiments on various balancing and tracking tasks show very robust performance in the face of unknown disturbances, even when the humanoid is standing on one foot. Our results demonstrate that hierarchical inverse dynamics together with momentum control can be efficiently used for feedback control under real robot conditions.Comment: 21 pages, 11 figures, 4 tables in Autonomous Robots (2015

Feedback control by online learning an inverse model

A model, predictor, or error estimator is often used by a feedback controller to control a plant. Creating such a model is difficult when the plant exhibits nonlinear behavior. In this paper, a novel online learning control framework is proposed that does not require explicit knowledge about the plant. This framework uses two learning modules, one for creating an inverse model, and the other for actually controlling the plant. Except for their inputs, they are identical. The inverse model learns by the exploration performed by the not yet fully trained controller, while the actual controller is based on the currently learned model. The proposed framework allows fast online learning of an accurate controller. The controller can be applied on a broad range of tasks with different dynamic characteristics. We validate this claim by applying our control framework on several control tasks: 1) the heating tank problem (slow nonlinear dynamics); 2) flight pitch control (slow linear dynamics); and 3) the balancing problem of a double inverted pendulum (fast linear and nonlinear dynamics). The results of these experiments show that fast learning and accurate control can be achieved. Furthermore, a comparison is made with some classical control approaches, and observations concerning convergence and stability are made

Inverse Dynamics and Control for Nuclear Power Plants

A new nonlinear control technique was developed by reformulating one of the “inverse Problems” techniques in mathematics, namely the reconstruction problem. The theory identifies an important concept called inverse dynamics which is always a known property for systems already developed or designed. Accordingly, the paradigm is called “reconstructive inverse dynamics” (RID) control. The standard state-space representation of dynamic systems constitutes a sufficient foundation to derive an algebraic RID control law that provides solutions in one step computation. The existence of an inverse solution is guaranteed for a limited dynamic space. Outside the guaranteed range, existence depends on the nature of the system under consideration. Derivations include adaptive features to minimize the effects of modeling errors and measurement degradation on control performance. A comparative study is included to illustrate the relationship between the RID control and optimal control strategies. A set of performance factors were used to investigate the robustness against various uncertainties and the suitability for digital implementation in large scale-systems. All of the illustrations are based on computer simulations using nonlinear models. The simulation results indicate a significant improvement in robust control strategies. The control strategy can be implemented on-line by exploiting its algebraic design property. Three applications to nuclear reactor systems are presented. The objective is to investigate the merit of the RID control technique to improve nuclear reactor operations and increase plant availability. The first two applications include xenon induced power oscillations and feed water control in conventional light water reactors. The third application consists of an automatic control system design for the startup of the Experimental Breeder Reactor-II (EBR-II). The nonlinear dynamic models used in this analysis were previously validated against available plant data. The simulation results show that the RID technique has the potential to improve reactor control strategies significantly. Some of the observations include accurate xenon control, and rapid feed water maneuvers in pressurized water reactors, and successful automated startup of the EBR-II. The scope of the inverse dynamics approach is extended to incorporate artificial intelligence methods within a systematic strategy design procedure. Since the RID control law includes the dynamics of the system, its implementation may influence plant component and measurement design. The inverse dynamics concept is further studied in conjunction with artificial neural networks and expert systems to develop practical control tools