1 research outputs found
Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs
This paper presents a novel task-priority control framework for redundant
robotic systems based on a hierarchy of control Lyapunov function (CLF) and
control barrier function (CBF) based quadratic programs (QPs). The proposed
method guarantees strict priority among different groups of tasks such as
safety-related, operational and optimization tasks. Moreover, a soft priority
measure in the form of penalty parameters can be employed to prioritize tasks
at the same priority level. As opposed to kinematic control schemes, the
proposed framework is a holistic approach to control of redundant robotic
systems, which solves the redundancy resolution, dynamic control and control
allocation problems simultaneously. Numerical simulations of a hyper-redundant
articulated intervention autonomous underwater vehicle (AIAUV) is presented to
validate the proposed framework.Comment: 21st IFAC World Congres