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PD based Robust Quadratic Programs for Robotic Systems

Kolathaya, S and Veer, S (2019) PD based Robust Quadratic Programs for Robotic Systems. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3-8 Nov. 2019, Macau, China, pp. 6834-6841.

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Official URL: https://dx.doi.org/10.1109/IROS40897.2019.8968214


In this paper, inspired by Proportional-Derivative (PD) control laws, we present a class of Control Lyapunov Function (CLF) based Quadratic Programs (QPs) for robotic systems. Proportional-Derivative (PD) control laws are independent of the robot model, however, they fail to incorporate physical constraints, such as torque saturation. On the other hand, most optimization based control design approaches ensure satisfaction of the physical constraints, but they are sensitive to errors in the robot model. The PD based Quadratic Programs (PD-QPs), presented in this paper, are a first step towards bridging this gap between the PD and the optimization based controllers to bring the best of both together. We derive two versions of PD-QPs: model-based and model-free. Furthermore, for tracking time-varying trajectories, we establish asymptotic stability for the model-based PD-QP, and ultimate boundedness for the model-free PD-QP. The performance of the PD-QPs is evaluated on two robot models: A fully actuated cart-pole and an underactuated 5-DOF biped. © 2019 IEEE.

Item Type: Conference Paper
Publication: IEEE International Conference on Intelligent Robots and Systems
Publisher: Institute of Electrical and Electronics Engineers Inc.
Additional Information: cited By 0; Conference of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 ; Conference Date: 3 November 2019 Through 8 November 2019; Conference Code:157163
Keywords: Asymptotic stability; Control theory; Lyapunov functions; Machine design; Quadratic programming; Robotics, Control Lyapunov function; Model-based OPC; Physical constraints; Proportional-derivative control; Quadratic programs; Robotic systems; Torque saturation; Ultimate boundedness, Intelligent robots
Department/Centre: Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Date Deposited: 15 Sep 2020 07:04
Last Modified: 15 Sep 2020 07:04
URI: http://eprints.iisc.ac.in/id/eprint/64912

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