Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs
Peer reviewed, Journal article
Published version
Åpne
Permanent lenke
https://hdl.handle.net/11250/2775058Utgivelsesdato
2020Metadata
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Originalversjon
http://dx.doi.org/10.1016/j.ifacol.2020.12.2024Sammendrag
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.