Abstract
This paper presents a control barrier function
(CBF) for systems described by differential-algebraic equations
and applies the method to guarantee the safety of a two-link
flexible-link manipulator. The two main contributions of the
paper are: a) an extension of CBFs to systems governed by
differential-algebraic equations; b) a framework for simula-
tion of flexible-link robots in a floating frame of reference
formulation (FFRF) finite element method (FEM). Numerical
simulations demonstrate the minimally invasive safety control
of a flexible two-link manipulator with position constraints
through CBF quadratic programming without converting the
differential-algebraic equations to a control-affine system.
(CBF) for systems described by differential-algebraic equations
and applies the method to guarantee the safety of a two-link
flexible-link manipulator. The two main contributions of the
paper are: a) an extension of CBFs to systems governed by
differential-algebraic equations; b) a framework for simula-
tion of flexible-link robots in a floating frame of reference
formulation (FFRF) finite element method (FEM). Numerical
simulations demonstrate the minimally invasive safety control
of a flexible two-link manipulator with position constraints
through CBF quadratic programming without converting the
differential-algebraic equations to a control-affine system.
| Original language | English |
|---|---|
| Title of host publication | 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Publisher | IEEE |
| Publication date | 18. Oct 2024 |
| Pages | 12408-12413 |
| ISBN (Electronic) | 979-8-3503-7770-5 |
| DOIs | |
| Publication status | Published - 18. Oct 2024 |
| Series | Proceedings - IEEE International Conference on Intelligent Robots and Systems |
|---|---|
| ISSN | 2153-0858 |