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Stable-by-Design Kinematic Control Based on Optimization
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DOI：10.1109/TRO.2019.2963665.png)
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Abstract
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This article presents a new kinematic control paradigm for redundant robots based on optimization. The general approach takes into account convex objective functions with inequality constraints and a specific equality constraint resulting from a Lyapunov function, which ensures closed-loop stability by design. Furthermore, we tackle an important particular case by using a convex combination of quadratic and l(1)-norm objective functions, making possible for the designer to choose different degrees of sparseness and smoothness in the control inputs. We provide a pseudoanalytical solution to this optimization problem and validate the approach by controlling the center of mass of the humanoid robot HOAP3.
Keywords:
Constraints
convex programming
kinematic control
kinematics
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