Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings 2019 IEEE 58th Conference on Decision and Control (CDC) |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 8329-8334 |
| Number of pages | 6 |
| ISBN (electronic) | 9781728113982 |
| ISBN (print) | 978-1-7281-1399-9 |
| Publication status | Published - 2019 |
| Event | 58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France Duration: 11 Dec 2019 → 13 Dec 2019 |
Publication series
| Name | Proceedings of the IEEE Conference on Decision and Control |
|---|---|
| Volume | 2019-December |
| ISSN (Print) | 0743-1546 |
| ISSN (electronic) | 2576-2370 |
Abstract
In this work, the control of snake robot locomotion via economic model predictive control (MPC) is studied. Only very few examples of applications of MPC to snake robots exist and rigorous proofs for recursive feasibility and convergence are missing. We propose an economic MPC algorithm that maximizes the robot's forward velocity and integrates the choice of the gait pattern into the closed loop. We show recursive feasibility of the MPC optimization problem, where some of the developed techniques are also applicable for the analysis of a more general class of system. Besides, we provide performance results and illustrate the achieved performance by numerical simulations. We thereby show that the economic MPC algorithm outperforms a standard lateral undulation controller and achieves constraint satisfaction. Surprisingly, a gait pattern different to lateral undulation results from the optimization.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Mathematics(all)
- Modelling and Simulation
- Mathematics(all)
- Control and Optimization
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Proceedings 2019 IEEE 58th Conference on Decision and Control (CDC). Institute of Electrical and Electronics Engineers Inc., 2019. p. 8329-8334 9029627 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Economic model predictive control for snake robot locomotion
AU - Nonhoff, Marko
AU - Kohler, Philipp N.
AU - Kohl, Anna M.
AU - Pettersen, Kristin Y.
AU - Allgöwer, Frank
PY - 2019
Y1 - 2019
N2 - In this work, the control of snake robot locomotion via economic model predictive control (MPC) is studied. Only very few examples of applications of MPC to snake robots exist and rigorous proofs for recursive feasibility and convergence are missing. We propose an economic MPC algorithm that maximizes the robot's forward velocity and integrates the choice of the gait pattern into the closed loop. We show recursive feasibility of the MPC optimization problem, where some of the developed techniques are also applicable for the analysis of a more general class of system. Besides, we provide performance results and illustrate the achieved performance by numerical simulations. We thereby show that the economic MPC algorithm outperforms a standard lateral undulation controller and achieves constraint satisfaction. Surprisingly, a gait pattern different to lateral undulation results from the optimization.
AB - In this work, the control of snake robot locomotion via economic model predictive control (MPC) is studied. Only very few examples of applications of MPC to snake robots exist and rigorous proofs for recursive feasibility and convergence are missing. We propose an economic MPC algorithm that maximizes the robot's forward velocity and integrates the choice of the gait pattern into the closed loop. We show recursive feasibility of the MPC optimization problem, where some of the developed techniques are also applicable for the analysis of a more general class of system. Besides, we provide performance results and illustrate the achieved performance by numerical simulations. We thereby show that the economic MPC algorithm outperforms a standard lateral undulation controller and achieves constraint satisfaction. Surprisingly, a gait pattern different to lateral undulation results from the optimization.
UR - http://www.scopus.com/inward/record.url?scp=85082444444&partnerID=8YFLogxK
U2 - 10.48550/arXiv.1909.00795
DO - 10.48550/arXiv.1909.00795
M3 - Conference contribution
AN - SCOPUS:85082444444
SN - 978-1-7281-1399-9
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 8329
EP - 8334
BT - Proceedings 2019 IEEE 58th Conference on Decision and Control (CDC)
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 58th IEEE Conference on Decision and Control, CDC 2019
Y2 - 11 December 2019 through 13 December 2019
ER -