Hybrid (discrete-continuous) control of robotic systems

Author

Buss, Martin

Author_Institution

Control Syst. Group, Technische Univ. Berlin, Germany

Volume

2

fYear

2003

fDate

16-20 July 2003

Firstpage

712

Abstract

Mechatronic multicontact systems (MMS) are a challenging subclass of hybrid-discrete-continuous-dynamical systems. Depending on the typically integer-valued number of (unilateral) contacts the structure of dynamic models varies. Typical hybrid control applications of MMS are multi-fingered robotic hands, multi-legged walking machines, or cars. In this paper the hybrid state model is presented as a general model for a wide class of hybrid dynamical systems. Hybrid feedback and optimal control concepts are proposed. A cooperative multi-arm transport task is presented as an application example.

Keywords

continuous time systems; dexterous manipulators; discrete event systems; feedback; legged locomotion; mechatronics; nonlinear dynamical systems; optimal control; cooperative multiarm transport task; discrete continuous control system; hybrid control system; hybrid discrete systems; hybrid dynamical systems; hybrid feedback; hybrid state model; integer value number; mechatronic multicontact system; multifingered robotic hands; multiple legged walking machines; optimal control; robotic systems; Control systems; Equations; Feedback; Force control; Hybrid power systems; Legged locomotion; Mechatronics; Optimal control; Robot control; Springs;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on

Print_ISBN

0-7803-7866-0

Type

conf

DOI

10.1109/CIRA.2003.1222268

Filename

1222268