High-order control barrier functions-based impedance control of a robotic manipulator with time-varying output constraints?

被引：32

作者：

Wang, Haijing ^{[1
]}

Peng, Jinzhu ^{[1
]}

Zhang, Fangfang ^{[1
]}

Zhang, Hui ^{[2
]}

Wang, Yaonan ^{[2
]}

机构：

[1] Zhengzhou Univ, Sch Elect Engn, Zhengzhou 450001, Henan, Peoples R China

[2] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Hunan, Peoples R China

来源：

ISA TRANSACTIONS | 2022年 / 129卷

基金：

中国国家自然科学基金; 国家重点研发计划;

关键词：

High -order control barrier function; Impedance control; Time-varying output constraints; Quadratic program; Robotic manipulator; SYSTEMS; VERIFICATION; PROGRAMS;

D O I：

10.1016/j.isatra.2022.02.013

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper focuses on the impedance control for robotic manipulators with time-varying output constraints. High-order control barrier functions (HoCBFs) are firstly proposed for a nonlinear system with high relative-degree time-varying constraints. Then, the HoCBFs are introduced to impedance control for robotic manipulators, where the HoCBFs are employed to avoid the violation of time-varying output constraints in Cartesian space by quadratic program (QP), and the impedance control is designed to achieve compliance for human-robot interaction (HRI). In this way, the desired trajectory within the safety-critical region can be tracked without violating the output constraints due to the controller generated from QP, and the safe HRI can also be achieved because of the usage of impedance control method. Finally, simulation tests are conducted to verify the proposed control design methods.(c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：361 / 369

页数：9

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