dc.contributor.author | Basso, Erlend Andreas | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.date.accessioned | 2021-09-10T06:26:10Z | |
dc.date.available | 2021-09-10T06:26:10Z | |
dc.date.created | 2020-09-17T08:40:23Z | |
dc.date.issued | 2020 | |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | https://hdl.handle.net/11250/2775058 | |
dc.description.abstract | 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. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | International Federation of Automatic Control (IFAC) | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.journal | IFAC-PapersOnLine | en_US |
dc.identifier.doi | http://dx.doi.org/10.1016/j.ifacol.2020.12.2024 | |
dc.identifier.cristin | 1830684 | |
dc.relation.project | Norges forskningsråd: 304667 | en_US |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
cristin.ispublished | false | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |