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Task priority controller based on affine subspaces
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DOI：10.1080/00207721.2025.2590604.png)
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Abstract
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In this article, the problem of kinematic control in systems involving multiple tasks organised within a hierarchical structure is addressed. Although the null-space-based controller (NSBC) has been widely adopted as a standard solution, it has been shown to inadvertently introduce conflicts between tasks that are, in theory, non-conflicting. To overcome this limitation, a novel affine-subspace-based controller (ASBC) is proposed, and a rigorous theoretical framework is developed to formalise its properties. The limitations of NSBC are illustrated through numerical simulations in a practical scenario, and it is demonstrated that the ASBC can effectively mitigate these issues. Moreover, it is shown that the ASBC can be seamlessly integrated with the NSBC to improve overall control performance.
Keywords:
Task-priority control
affine subspace-based control (ASBC)
null-space-based control (NSBC)
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