Stability Analysis and Control of Rigid-Body Systems with Impacts and Friction
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Posa14.pdf
Description
Accepted version
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1.62 MB
Format
Adobe PDF
Checksum (MD5)
682658ed6e83cb791a28812bc4f5bd6b
Author(s)
Posa, Michael
Tobenkin, Mark
Tedrake, Russ
Date Issued
June 2016
Journal
IEEE Transactions on Automatic Control
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Posa, Michael, et al. “Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction.” IEEE Transactions on Automatic Control 61, 6, (June 2016): pp. 1423–37.
Version
Author's final manuscript
Abstract
Many critical tasks in robotics, such as locomotion or manipulation, involve collisions between a rigid body and the environment or between multiple bodies. Methods based on sums-of-squares (SOS) for numerical computation of Lyapunov certificates are a powerful tool for analyzing the stability of continuous nonlinear systems, and can additionally be used to automatically synthesize stabilizing feedback controllers. Here, we present a method for applying sums-of-squares verification to rigid bodies with Coulomb friction undergoing discontinuous, inelastic impact events. The proposed algorithm explicitly generates Lyapunov certificates for stability, positive invariance, and safety over admissible (non-penetrating) states and contact forces. We leverage the complementarity formulation of contact, which naturally generates the semialgebraic constraints that define this admissible region. The approach is demonstrated on multiple robotics examples, including simple models of a walking robot, a perching aircraft, and control design of a balancing robot. � 2015 IEEE.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/TAC.2015.2459151
