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Economic model predictive control for snake robot locomotion

Nonhoff, Marko; köhler, philipp; Kohl, Anna M; Pettersen, Kristin Ytterstad; Allgower, Frank
Journal article, Peer reviewed
Accepted version
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URI
http://hdl.handle.net/11250/2640403
Date
2019
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  • Institutt for teknisk kybernetikk [2188]
  • Publikasjoner fra CRIStin - NTNU [19757]
Original version
IEEE Conference on Decision and Control. Proceedings. 2019, 8329-8334.  
Abstract
Abstract— In this work, the control of snake robot loco-motion via economic model predictive control (MPC) is studied.Only very few examples of applications of MPC to snake robotsexist and rigorous proofs for recursive feasibility and conver-gence are missing. We propose an economic MPC algorithmthat maximizes the robot’s forward velocity and integratesthe choice of the gait pattern into the closed loop. We showrecursive feasibility of the MPC optimization problem, wheresome of the developed techniques are also applicable for theanalysis of a more general class of system. Besides, we provideperformance results and illustrate the achieved performanceby numerical simulations. We thereby show that the economicMPC algorithm outperforms a standard lateral undulationcontroller and achieves constraint satisfaction. Surprisingly, agait pattern different to lateral undulation results from theoptimization.
Publisher
IEEE
Journal
IEEE Conference on Decision and Control. Proceedings

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