Safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm for robotic system  

作　　者：Helin Wang 

机构地区：[1]Department of Electrical and Electronic Engineering,Shanghai Institute of Technology,Shanghai 201418,China

出　　处：《Security and Safety》2024年第4期6-17,共12页一体化安全(英文)

基　　金：supported by the National Natural Science Foundation of China (No. 61573260,No. 62073245,No. U1713211)

摘　　要：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 efectiveness of the mentioned methods. The results indicate that the tracking efect of joint trajectory is better safety-critical nonlinear optimal predictive control with adaptive error elimination algorithm.

关 键 词：Nonlinear optimal predictive control Safety-critical control scheme Robotic system Adaptive error elimination algorithm 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]