Unscented optimization and control allocation
Ross, Isaac Michael
Proulx, Ronald J.
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The disclosure provides a robotic arm controller which determines a control parameter for at least one actuator comprising the robotic arm using a control equation having the general form Ax=b, where A is a transformation matrix A based on the geometry and Jacobian of the robotic arm, x is the control parameter x such as a torque vector at a specific joint, and b is the end effector parameter b which specifies a desired corrective state of the end effector. The methodology, by way of constructing and solving an unscented optimization problem, provides a solution to the Ax=b problem by perturbing at least one joint angle appearing in the Jacobian to generate a plurality of distributed joint angles, determining a control parameter x which minimizes an error function. In a particular embodiment, the error function is sum of residual squares, and the appropriate control parameter x is determined by minimizing the error function subject to a series of constraints A,x-b-z,=O, where each constraint arises by virtue of the error generated through use of a given joint angle in the plurality of distributed joint angles selected.
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Ross, Isaac Michael; Karpenko, Mark; Proulx, Ronald J. (The United States of America, as represented by the Secretary of the Navy, Washington, DC (US), 2018-10-09);The disclosure provides a closed-loop controller for a controlled system comprising a comparison element generating an error e, a compensator generating a control uɴ value based on the error e, and a control allocator ...
Ross, Issac M.; Proulx, Ronald J.; Greenslade, Joseph M.; Karpenko, Mark (The United States of America as represented by the Secretary of the Navy, Washington, DC (US), 2018-05-29);The disclosure provides a method and apparatus for determination of a control policy for a rigid body system, where the rigid body system comprises a sensor and a plurality of actuators designed to maneuver the rigid ...
Ross, Isaac Michael; Lee, Donghun; Karpenko, Mark (United States of America as represented by the Secretary of the Navy, Washington, DC (US), 2015-05-26);Methods and apparatus are presented for spacecraft operation using non-Eigen axis attitude transitions via control momentum gyroscopes (CM Gs) to avoid or mitigate singularities by providing a time-varying attitude ...