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Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators
Name
2107.04314.pdf
Description
Accepted version
Size
1.82 MB
Format
Adobe PDF
Checksum (MD5)
259a92ea549c159a78f60f4f9f0d855d
Author(s)
Sotiropoulos, Filippos E
Asada, H Harry
Date Issued
January 2022
Journal
IEEE Robotics and Automation Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Sotiropoulos, Filippos E and Asada, H Harry. 2022. "Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators." IEEE Robotics and Automation Letters, 7 (1).
Version
Author's final manuscript
Abstract
A lifting-linearization method based on the Koopman operator and Dual Faceted Linearization is applied to the control of a robotic excavator. In excavation, a bucket interacts with the surrounding soil in a highly nonlinear and complex manner. Here, we propose to represent the nonlinear bucket-soil dynamics with a set of linear state equations in a higher-dimensional space. The space of independent state variables is augmented by adding variables associated with nonlinear elements involved in the bucket-soil dynamics. These include nonlinear resistive forces and moment acting on the bucket from the soil, and the effective inertia of the bucket that varies as the soil is captured into the bucket. Variables associated with these nonlinear resistive and inertia elements are treated as additional state variables, and their time evolution is represented as another set of linear differential equations. The lifted linear dynamic model is then applied to Model Predictive Contouring Control, where a cost functional is minimized as a convex optimization problem thanks to the linear dynamics in the lifted space. The lifted linear model is tuned based on a data-driven method by using a soil dynamics simulator. Simulation experiments on homogeneous soil verify the effectiveness of the proposed lifting linearization compared to its counterpart.
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Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1109/lra.2021.3121136
