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dc.contributor.authorBasso, Erlend Andreas
dc.contributor.authorPettersen, Kristin Ytterstad
dc.date.accessioned2021-09-10T06:15:31Z
dc.date.available2021-09-10T06:15:31Z
dc.date.created2020-09-17T08:32:14Z
dc.date.issued2020
dc.identifier.issn2405-8963
dc.identifier.urihttps://hdl.handle.net/11250/2775050
dc.description.abstractRedundant robotic systems are designed to accomplish multiple tasks simultaneously. Task-priority control schemes exploit system redundancy by arranging tasks in priority and ensuring strict prioritization between tasks at different priority levels. This paper investigates the relationship between task-priority operational space control and feedback linearization of multiple-input-multiple-output (MIMO) systems. We derive sufficient conditions for input-output feedback linearization and input-to-state feedback linearization of a redundant robotic system influenced by a task-priority operational space pre-feedback control law. Moreover, we analyze the effect of incompatible tasks and provide sufficient conditions for input-output and input-to-state feedback linearizability of the controllable dimensions of incompatible lower-priority tasks. These conditions can be employed when designing the operational space tasks in order to guarantee both task space and joint space stability.en_US
dc.language.isoengen_US
dc.publisherInternational Federation of Automatic Control (IFAC)en_US
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleMIMO Feedback Linearization of Redundant Robotic Systems Using Task-Priority Operational Space Controlen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.subject.nsiVDP::Teknologi: 500en_US
dc.subject.nsiVDP::Technology: 500en_US
dc.source.journalIFAC-PapersOnLineen_US
dc.identifier.doihttp://dx.doi.org/10.1016/j.ifacol.2020.12.1550
dc.identifier.cristin1830681
dc.relation.projectNorges forskningsråd: 304667en_US
dc.relation.projectNorges forskningsråd: 223254en_US
cristin.ispublishedfalse
cristin.fulltextpostprint
cristin.qualitycode1


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
Med mindre annet er angitt, så er denne innførselen lisensiert som Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal