TY - GEN
T1 - Iterative optimal feedback control design under relaxed rigidity constraints for multi-robot cooperative manipulation
AU - Sieber, Dominik
AU - Deroo, Frederik
AU - Hirche, Sandra
PY - 2013
Y1 - 2013
N2 - Cooperative manipulation of multiple robots presents an interesting control application scenario of coupled dynamical systems with a common goal. Here, we treat the problem of moving a formation of physically interconnected robots to a desired goal while maintaining the formation. This control problen is for example relevant in cooperative transport of an object from an initial to a final configuration by mobile robotic manipulators. To achieve the control goal we formulate an LQR-like optimal control problem that, in addition to goal regulation and minimization of input energy, includes the formation rigidity constraint in a relaxed form expressed as a biquadratic penalty term. The control problem is solved by two different iterative algorithms, a gradient descent using adjoint states and a quasi-Newton method, that determine a static linear state-feedback matrix. The proposed control design and the iterative algorithms are validated and compared in numerical simulations showing the efficacy of both approaches.
AB - Cooperative manipulation of multiple robots presents an interesting control application scenario of coupled dynamical systems with a common goal. Here, we treat the problem of moving a formation of physically interconnected robots to a desired goal while maintaining the formation. This control problen is for example relevant in cooperative transport of an object from an initial to a final configuration by mobile robotic manipulators. To achieve the control goal we formulate an LQR-like optimal control problem that, in addition to goal regulation and minimization of input energy, includes the formation rigidity constraint in a relaxed form expressed as a biquadratic penalty term. The control problem is solved by two different iterative algorithms, a gradient descent using adjoint states and a quasi-Newton method, that determine a static linear state-feedback matrix. The proposed control design and the iterative algorithms are validated and compared in numerical simulations showing the efficacy of both approaches.
UR - http://www.scopus.com/inward/record.url?scp=84902336198&partnerID=8YFLogxK
U2 - 10.1109/CDC.2013.6760008
DO - 10.1109/CDC.2013.6760008
M3 - Conference contribution
AN - SCOPUS:84902336198
SN - 9781467357173
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 971
EP - 976
BT - 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 52nd IEEE Conference on Decision and Control, CDC 2013
Y2 - 10 December 2013 through 13 December 2013
ER -