Safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm for robotic system
Safety-critical control enables intelligent robots to have better secure operation and resistance to adverse environments, hence greatly enhancing their interaction and adaptability to the environment. In this paper, we propose a safety-critical control scheme for robotic systems using an adaptive e...
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EDP Sciences
2024-01-01
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| Series: | Security and Safety |
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| Online Access: | https://sands.edpsciences.org/articles/sands/full_html/2024/01/sands20240023/sands20240023.html |
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| author | Wang Helin |
| author_facet | Wang Helin |
| author_sort | Wang Helin |
| collection | DOAJ |
| description | Safety-critical control enables intelligent robots to have better secure operation and resistance to adverse environments, hence greatly enhancing their interaction and adaptability to the environment. In this paper, we propose a safety-critical control scheme for robotic systems using an adaptive error elimination algorithm and optimization-based nonlinear optimal predictive control (NOPC) framework. The novelty of the proposed work lies in that an adaptive error elimination controller is designed to deal with the problem of stabilization of walking gait, which ensures that robot joint trajectory can compensate for the limitation of the template model. In order to be independent of system parameters and disturbances, a sliding mode controller is further designed under an uncertain environment. This approach takes into account simultaneously with foot position and orientation based on NOPC optimization. It tracks the modified trajectories constrained with the centroidal momentum dynamics. Finally, simulations is utilized to verify the effectiveness of the mentioned methods. The results indicate that the tracking effect of joint trajectory is better safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm. |
| format | Article |
| id | doaj-art-7bba7f8184b841cdac3d6a4b4a3022d6 |
| institution | DOAJ |
| issn | 2826-1275 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | Security and Safety |
| spelling | doaj-art-7bba7f8184b841cdac3d6a4b4a3022d62025-08-20T03:02:10ZengEDP SciencesSecurity and Safety2826-12752024-01-013202401610.1051/sands/2024016sands20240023Safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm for robotic systemWang Helin0Department of Electrical and Electronic Engineering, Shanghai Institute of TechnologySafety-critical control enables intelligent robots to have better secure operation and resistance to adverse environments, hence greatly enhancing their interaction and adaptability to the environment. In this paper, we propose a safety-critical control scheme for robotic systems using an adaptive error elimination algorithm and optimization-based nonlinear optimal predictive control (NOPC) framework. The novelty of the proposed work lies in that an adaptive error elimination controller is designed to deal with the problem of stabilization of walking gait, which ensures that robot joint trajectory can compensate for the limitation of the template model. In order to be independent of system parameters and disturbances, a sliding mode controller is further designed under an uncertain environment. This approach takes into account simultaneously with foot position and orientation based on NOPC optimization. It tracks the modified trajectories constrained with the centroidal momentum dynamics. Finally, simulations is utilized to verify the effectiveness of the mentioned methods. The results indicate that the tracking effect of joint trajectory is better safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm.https://sands.edpsciences.org/articles/sands/full_html/2024/01/sands20240023/sands20240023.htmlnonlinear optimal predictive controlsafety-critical control schemerobotic systemadaptive error elimination algorithm |
| spellingShingle | Wang Helin Safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm for robotic system Security and Safety nonlinear optimal predictive control safety-critical control scheme robotic system adaptive error elimination algorithm |
| title | Safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm for robotic system |
| title_full | Safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm for robotic system |
| title_fullStr | Safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm for robotic system |
| title_full_unstemmed | Safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm for robotic system |
| title_short | Safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm for robotic system |
| title_sort | safety critical nonlinear optimal predictive control with adaptive error elimination algorithm for robotic system |
| topic | nonlinear optimal predictive control safety-critical control scheme robotic system adaptive error elimination algorithm |
| url | https://sands.edpsciences.org/articles/sands/full_html/2024/01/sands20240023/sands20240023.html |
| work_keys_str_mv | AT wanghelin safetycriticalnonlinearoptimalpredictivecontrolwithadaptiveerroreliminationalgorithmforroboticsystem |