Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping
Wenceslao Shaw Cortez, Denny Oetomo, Chris Manzie, Peter Choong
IEEE Transactions on Control Systems Technology | Institute of Electrical and Electronics Engineers (IEEE) | Published : 2021
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers. However, the existing results are mostly restricted to continuous-time systems. Mechanical systems, including robots, are typically second-order systems in which the control occurs at the force/torque level. These systems have actuator, velocity, and position constraints (i.e., relative degree two) that are vital for safety and/or task execution. Additionally, mechanical systems are typically controlled digitally as sampled-data systems. The contribution of this article is twofold. The first contribution is the development of novel, robust control barrie..View full abstract
This work was supported by the Valma Angliss Trust.