Output-feedback shared-control for fully actuated linear mechanical systems

Abstract

Abstract-This paper presents an output feedback sharedcontrol algorithm for fully-actuated, linear, mechanical systems. The feasible configurations of the system are described by a group of linear inequalities which characterize a convex admissible set. The properties of the shared-control algorithm are established with a Lyapunov-like analysis. Simple numerical examples demonstrate the effectiveness of the strategy.

Shared-control for the kinematic model of a mobile robot

“…As discussed in [17] this is without loss of generality. In addition, as noted therein, N c f-controls need to be designed and in general N c ≤ m 2 .…”

“…Note that, as detailed in [17], S i is invertible according to its construction. Define new variables q i and…”

“…Shared control problems have been studied in [15], where a continuous shared control paradigm based on a constant sharing weight determined via simulations has been introduced for a brain-machine interface commanding a robot in [17] and [18] the shared-control problem for fully actuated, linear, mechanical systems has been studied by utilizing ideas from [19] and [20].…”

Shared-control for a UAV operating in the 3D space

“…As detailed in [18] we design the feedback controller under the assumption that m = 3. Note that N c f-controls need to be designed and in general, N c ≤ m 2 .…”

Shared-control for the kinematic model of a rear-wheel drive car

“…This is without loss of generality as detailed in [20]. Note that we need to design N c f-controls, each related to one group of active …”