Log In Sign Up

Robust Control Synthesis and Verification for Wire-Borne Underactuated Brachiating Robots Using Sum-of-Squares Optimization

by   Siavash Farzan, et al.

Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for brachiating on flexible cables, building on previous work on optimal trajectory generation and time-varying LQR controller design. We propose a novel simplified model for approximation of the flexible cable dynamics, which enables inclusion of parametric model uncertainties in the system. We then use semidefinite programming (SDP) and sum-of-squares (SOS) optimization to synthesize a time-varying feedback control with formal robustness guarantees to account for model uncertainties and unmeasurable states in the system. Through simulation, hardware experiments and comparison with a time-varying LQR controller, it is shown that the proposed robust controller results in relatively large robust backward reachable sets and is able to reliably track a pre-generated optimal trajectory and achieve the desired brachiating motion in the presence of parametric model uncertainties, actuator limits, and unobservable states.


page 1

page 7


Discrete-time Contraction-based Control of Nonlinear Systems with Parametric Uncertainties using Neural Networks

Flexible manufacturing in the process industry requires control systems ...

Computing Funnels Using Numerical Optimization Based Falsifiers

In this paper, we present an algorithm that computes funnels along traje...

Sensitivity of Legged Balance Control to Uncertainties and Sampling Period

We propose to quantify the effect of sensor and actuator uncertainties o...

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning

Trajectory optimization (TO) is one of the most powerful tools for gener...