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Pré-Publication, Document De Travail Année : 2014

Generalized Hierarchical Control

Résumé

Most existing techniques to handle strict task priorities in hierarchical control are based on null-space projectors or a sequence of quadratic programs; whereas non strict task priorities are usually handled by optimization based on a weighting strategy. This paper proposes a novel approach to handle both strict and non-strict priorities of an arbitrary number of tasks, and to achieve multiple priority rearrangements simultaneously. A generalized projector, which makes it possible to completely project a task into the null-space of a set of tasks, while partially projecting it into the null-space of some other tasks, is developed for priority modulation. The control input is computed by solving one quadratic programming problem, where generalized projectors are adopted to maintain a task hierarchy, and constraints can be implemented. The effectiveness of this approach is demonstrated on a simulated robotic manipulator in a dynamic environment.
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Dates et versions

hal-01068404 , version 1 (26-09-2014)
hal-01068404 , version 2 (09-06-2015)

Identifiants

  • HAL Id : hal-01068404 , version 1

Citer

Mingxing Liu, Yang Tan, Vincent Padois. Generalized Hierarchical Control. 2014. ⟨hal-01068404v1⟩
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