Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2018 Annual American Control Conference, ACC 2018 |
| Herausgeber (Verlag) | Institute of Electrical and Electronics Engineers Inc. |
| Seiten | 3634-3641 |
| Seitenumfang | 8 |
| ISBN (Print) | 9781538654286 |
| Publikationsstatus | Veröffentlicht - 2018 |
| Veranstaltung | 2018 Annual American Control Conference, ACC 2018 - Milwauke, USA / Vereinigte Staaten Dauer: 27 Juni 2018 → 29 Juni 2018 |
Publikationsreihe
| Name | Proceedings of the American Control Conference |
|---|---|
| ISSN (Print) | 0743-1619 |
| ISSN (elektronisch) | 2378-5861 |
Abstract
In this paper, we show how virtual energy tanks can be used for passivity-based control schemes beyond ensuring passivity of the system, but respecting power-related control objectives. For this, we introduce the concept of valve-based virtual energy tanks. We show how these can be designed to handle several potentially non-passive ports based on their associated task priorities. Moreover, several practically useful policies are introduced for tank design. Finally, as a case study, a common potentially non-passive robotics system is elaborated to which a thorough passivity analysis as well as valve-based tank augmentation is applied. Several experiments with a force-impedance controlled robot in interaction with the environment underline the real world applicability of our approach.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
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2018 Annual American Control Conference, ACC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. S. 3634-3641 8431718 (Proceedings of the American Control Conference).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Valve-based Virtual Energy Tanks
T2 - 2018 Annual American Control Conference, ACC 2018
AU - Shahriari, Erfan
AU - Johannsmeier, Lars
AU - Haddadin, Sami
N1 - Funding Information: manipulator under Cartesian force-impedance control while interacting with the environment. ACKNOWLEDGMENT We greatly acknowledge the funding of this work by the Alfried Krupp von Bohlen und Halbach Foundation.
PY - 2018
Y1 - 2018
N2 - In this paper, we show how virtual energy tanks can be used for passivity-based control schemes beyond ensuring passivity of the system, but respecting power-related control objectives. For this, we introduce the concept of valve-based virtual energy tanks. We show how these can be designed to handle several potentially non-passive ports based on their associated task priorities. Moreover, several practically useful policies are introduced for tank design. Finally, as a case study, a common potentially non-passive robotics system is elaborated to which a thorough passivity analysis as well as valve-based tank augmentation is applied. Several experiments with a force-impedance controlled robot in interaction with the environment underline the real world applicability of our approach.
AB - In this paper, we show how virtual energy tanks can be used for passivity-based control schemes beyond ensuring passivity of the system, but respecting power-related control objectives. For this, we introduce the concept of valve-based virtual energy tanks. We show how these can be designed to handle several potentially non-passive ports based on their associated task priorities. Moreover, several practically useful policies are introduced for tank design. Finally, as a case study, a common potentially non-passive robotics system is elaborated to which a thorough passivity analysis as well as valve-based tank augmentation is applied. Several experiments with a force-impedance controlled robot in interaction with the environment underline the real world applicability of our approach.
UR - http://www.scopus.com/inward/record.url?scp=85052569985&partnerID=8YFLogxK
U2 - 10.23919/ACC.2018.8431718
DO - 10.23919/ACC.2018.8431718
M3 - Conference contribution
AN - SCOPUS:85052569985
SN - 9781538654286
T3 - Proceedings of the American Control Conference
SP - 3634
EP - 3641
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 27 June 2018 through 29 June 2018
ER -