Singularity-Avoidance Control of Robotic Systems with Model Mismatch and Actuator Constraints

Autor:	Wu, Mingkun, Rupenyan, Alisa, Corves, Burkhard
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	Singularities, manifesting as special configuration states, deteriorate robot performance and may even lead to a loss of control over the system. This paper addresses the kinematic singularity concerns in robotic systems with model mismatch and actuator constraints through control barrier functions (CBFs). We propose a learning-based control strategy to prevent robots entering singularity regions. More precisely, we leverage Gaussian process (GP) regression to learn the unknown model mismatch, where the prediction error is restricted by a deterministic bound. Moreover, we offer the criteria for parameter selection to ensure the feasibility of CBFs subject to actuator constraints. The proposed approach is validated by high-fidelity simulations on a 2 degrees-of-freedom (DoFs) planar robot. Comment: This work has been submitted to ECC 2025 for possible publication
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2411.07830 Zobrazit plný text záznamu View this record from Arxiv