TY - GEN
T1 - Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning
AU - Nikou, Alexandros
AU - Heshmati-Alamdari, Shahab
AU - Dimarogonas, Dimos V.
N1 - Funding Information:
The authors are with the School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden. E-mail: {anikou, shaha, dimos}@kth.se. This work was supported by the H2020 ERC Grant BUCOPHSYS, the EU H2020 Co4Robots project, the Swedish Foundation for Strategic Research (SSF), the Swedish Research Council (VR) and the Knut och Alice Wallenberg Foundation (KAW).
Publisher Copyright:
© 2019 IEEE.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2019/8
Y1 - 2019/8
N2 - This paper deals with the design and experimental validation of a state-of-the art tube-based Model Predictive Control (MPC) for achieving time-constrained tasks. Given the uncertain nonlinear dynamics of the robot as well as a high-level task written in Metric Interval Temporal Logic (MITL), the goal is to design a feedback control law that guarantees the satisfaction of the task. The workspace is divided into Regions of Interest (RoI) and contains also unsafe regions (obstacles) that the robot should not visit. The feedback control law consists of two terms: a control input which is the outcome of a Finite Horizon Optimal Control (FHOCP); and a state feedback law that guarantees that the nominal trajectories are bounded within a tube centered along the nominal trajectories. The aforementioned control law guarantees that the robot is safely navigated through the RoI within certain time bounds. The proposed framework can handle the rich expressiveness of MITL and is experimentally tested with a Nexus mobile robot in our lab facilities. The experimental results show that the proposed framework is promising for solving real-life robotic as well as industrial problems.
AB - This paper deals with the design and experimental validation of a state-of-the art tube-based Model Predictive Control (MPC) for achieving time-constrained tasks. Given the uncertain nonlinear dynamics of the robot as well as a high-level task written in Metric Interval Temporal Logic (MITL), the goal is to design a feedback control law that guarantees the satisfaction of the task. The workspace is divided into Regions of Interest (RoI) and contains also unsafe regions (obstacles) that the robot should not visit. The feedback control law consists of two terms: a control input which is the outcome of a Finite Horizon Optimal Control (FHOCP); and a state feedback law that guarantees that the nominal trajectories are bounded within a tube centered along the nominal trajectories. The aforementioned control law guarantees that the robot is safely navigated through the RoI within certain time bounds. The proposed framework can handle the rich expressiveness of MITL and is experimentally tested with a Nexus mobile robot in our lab facilities. The experimental results show that the proposed framework is promising for solving real-life robotic as well as industrial problems.
UR - http://www.scopus.com/inward/record.url?scp=85072984359&partnerID=8YFLogxK
U2 - 10.1109/COASE.2019.8843167
DO - 10.1109/COASE.2019.8843167
M3 - Article in proceeding
AN - SCOPUS:85072984359
T3 - IEEE International Conference on Automation Science and Engineering
SP - 1181
EP - 1186
BT - 2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019
PB - IEEE Computer Society Press
T2 - 15th IEEE International Conference on Automation Science and Engineering, CASE 2019
Y2 - 22 August 2019 through 26 August 2019
ER -