接触タイミングを指定しない剛体システムの占有測度に基づく安定化制御
Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures
接触のタイミングや回数を事前指定せずに剛体システムを安定化するため、離散時間ハイブリッド多項式系としてモデル化し、占有測度に基づく半正定値計画で制御器を合成する手法を提案した論文。
著者: Weiqiao Han, Russ Tedrake
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a discrete-time hybrid polynomial system, where the state-input space is partitioned into several polytopic regions with each region associated with a different polynomial dynamics equation. Based on the notion of occupation measures, we present a novel controller synthesis approach that solves finite-dimensional semidefinite programs as approximations to an infinite-dimensional linear program to stabilize the system. The optimization formulation is simple and convex, and for any fixed degree of approximations the computational complexity is polynomial in the state and control input dimensions. We illustrate our approach on some robotics examples.
