Formulation of impedance control strategy as an optimal control problem.

• Ano de defesa: 2018
• Autor(a) principal: Furtado, Guilherme Phillips
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: eng
• Instituição de defesa: Biblioteca Digitais de Teses e Dissertações da USP
• Palavras-chave em Português: Controle ótimo; Equações de Ricatti; Impedance control; Impedância elétrica (Controle); Manipuladores redundantes; Optimal control; Programação quadrática; Quadratic programming; Redundant manipulators; Ricatti equations
• Link de acesso: http://www.teses.usp.br/teses/disponiveis/3/3152/tde-05022019-153033/

A formulation of impedance control for redundant manipulators is developed as a particular case of an optimal control problem. This formulation allows the planning and design of an impedance controller that benets from the stability and eficiency of an optimal controller. Moreover, to circumvent the high computational costs of computing an optimal controller, a sub-optimal feedback controller based on the state-dependent Ricatti equation (SDRE) approach is developed. This approach is then compared with the quadratic programming (QP) control formulation, commonly used to resolve redundancy of robotic manipulators. Numerical simulations of a redundant planar 4-DOF serial link manipulator show that the SDRE control formulation offers superior performance over the control strategy based QP, in terms of stability, performance and required control effort.