The hierarchical Newton's method for numerically stable prioritized dynamic control
This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical Newton's method which solves prioritized nonlinear least-squares problems in a numerically stable fashion even in...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2024
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| Online Access: | https://hdl.handle.net/10356/174599 |
| _version_ | 1826116086551019520 |
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| author | Pfeiffer, Kai Escande, Adrien Gergondet, Pierre Kheddar, Abderrahmane |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Pfeiffer, Kai Escande, Adrien Gergondet, Pierre Kheddar, Abderrahmane |
| author_sort | Pfeiffer, Kai |
| collection | NTU |
| description | This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical Newton's method which solves prioritized nonlinear least-squares problems in a numerically stable fashion even in the presence of kinematic and algorithmic singularities of the approximated kinematic constraints. These results are then transferred to control problems which exhibit the additional variability of time. This is necessary to formulate acceleration-based controllers and to incorporate the second-order dynamics. However, we show that the Newton's method without complicated adaptations is not appropriate in the acceleration domain. We therefore formulate a velocity-based controller which exhibits second-order proportional derivative (PD) convergence characteristics. Our developments are verified in toy robot control scenarios as well as in complex robot experiments which stress the importance of prioritized control and its singularity resolution. |
| first_indexed | 2024-10-01T04:05:39Z |
| format | Journal Article |
| id | ntu-10356/174599 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:05:39Z |
| publishDate | 2024 |
| record_format | dspace |
| spelling | ntu-10356/1745992024-04-03T07:07:32Z The hierarchical Newton's method for numerically stable prioritized dynamic control Pfeiffer, Kai Escande, Adrien Gergondet, Pierre Kheddar, Abderrahmane School of Mechanical and Aerospace Engineering Engineering Constrained control Multibody dynamics This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical Newton's method which solves prioritized nonlinear least-squares problems in a numerically stable fashion even in the presence of kinematic and algorithmic singularities of the approximated kinematic constraints. These results are then transferred to control problems which exhibit the additional variability of time. This is necessary to formulate acceleration-based controllers and to incorporate the second-order dynamics. However, we show that the Newton's method without complicated adaptations is not appropriate in the acceleration domain. We therefore formulate a velocity-based controller which exhibits second-order proportional derivative (PD) convergence characteristics. Our developments are verified in toy robot control scenarios as well as in complex robot experiments which stress the importance of prioritized control and its singularity resolution. This work was supported in part by the CNRS-AIST-AIRBUS Joint Research Program and in part by the European Union (EU) H2020 COMANOID Project. 2024-04-03T07:07:32Z 2024-04-03T07:07:32Z 2023 Journal Article Pfeiffer, K., Escande, A., Gergondet, P. & Kheddar, A. (2023). The hierarchical Newton's method for numerically stable prioritized dynamic control. IEEE Transactions On Control Systems Technology, 31(4), 1622-1635. https://dx.doi.org/10.1109/TCST.2023.3234492 1063-6536 https://hdl.handle.net/10356/174599 10.1109/TCST.2023.3234492 2-s2.0-85147282770 4 31 1622 1635 en IEEE Transactions on Control Systems Technology © 2023 IEEE. All rights reserved. |
| spellingShingle | Engineering Constrained control Multibody dynamics Pfeiffer, Kai Escande, Adrien Gergondet, Pierre Kheddar, Abderrahmane The hierarchical Newton's method for numerically stable prioritized dynamic control |
| title | The hierarchical Newton's method for numerically stable prioritized dynamic control |
| title_full | The hierarchical Newton's method for numerically stable prioritized dynamic control |
| title_fullStr | The hierarchical Newton's method for numerically stable prioritized dynamic control |
| title_full_unstemmed | The hierarchical Newton's method for numerically stable prioritized dynamic control |
| title_short | The hierarchical Newton's method for numerically stable prioritized dynamic control |
| title_sort | hierarchical newton s method for numerically stable prioritized dynamic control |
| topic | Engineering Constrained control Multibody dynamics |
| url | https://hdl.handle.net/10356/174599 |
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