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A constrained inverse modeling approach for trajectory optimization

A constrained inverse modeling approach for trajectory optim...

引用

AIAA Guidance, Navigation, and Control (GNC) Conference

作者： Mueller, Reiko Looye, Gertjan Robotics and Mechatronics Center Institute of System Dynamics and Control Department of Aircraft Systems Dynamics Deutsches Zentrum für Luft und Raumfahrt Münchner Str. 20 82234 Wessling Germany

ISBN: (纸本)9781624102240

In aircraft trajectory optimization, modeling almost always relies on the usage of standard (forward) three- or more degrees of freedom equations of motion for the aircraft. The usual practice for simulating the trajectories is either to continuously trim the aircraft along the desired flight path and speed profile, and/or to use reduced point mass models that are defined in the vertical plane only. Alternative approaches became prominent in recent years, whereas in this paper the inverse modeling technique and an important extension to it is considered. First, inverse models have several advantages for trajectory optimization, the most important ones being the faster computation time and easy generation of start solutions, compared to standard forward models. In this work it is combined with speed- and flightpath-control loops to cancel the position error introduced during model integration. Still, an important problem remains: saturation limits and dynamics of the control systems used in the actual forward model are normally not considered when inverting the model equations, therefore losing the information of the limitations of the aircraft. In the presented case, the inversion becomes invalid, when the aircraft thrust is outside of the limits due to the commands of the inverse model inputs. This problem is addressed in the model by a pseudo-control-hedging (PCH) approach for altitude and velocity commands. By this means the inverse model inputs are automatically altered depending on the error between commanded and available thrust and the generated trajectory is rendered yable.

关键词： Degrees of freedom (mechanics)

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Predictive vision based control of high speed industrial robot paths

Predictive vision based control of high speed industrial rob...

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IEEE International Conference on robotics and Automation (ICRA)

作者： F. Lange P. Wunsch G. Hirzinger Institute of Robotics and System Dynamics DLR Wessling Germany

A predictive architecture is presented to react on sensor data in the case of high speed motion and low bandwidth sensor data. This concept is used for the vision based control of an industrial robot to track a contour at a speed of 1.6 m/s. The vision task can be performed very fast since only 2 rows of the image are analyzed. In this way an accuracy of 0.3 mm is reached in spite of uncertainties in robot's kinematic parameters. Vision and control work asynchronously so that even delay times are tolerable during sensing as long as the time-instant of the exposure is known.

关键词： Industrial control Service robots Robot vision systems Robot sensing systems Bandwidth Image analysis Performance analysis Uncertainty Robot kinematics Delay

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Autonomous parking using a highly maneuverable robotic vehicle 19

Autonomous parking using a highly maneuverable robotic vehic...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Schaub, Alexander De La Cruz, Juan Carlos Ramirez Burschka, Darius Institute of System Dynamics and Control Robotics Mechatronics Center - DLR Wessling82234 Germany Institute of Robotics and Mechatronics Robotics Mechatronics Center - DLR Wessling82234 Germany Department of Computer Science Technische Universität München Garching bei München85748 Germany

ISBN: (纸本)9783902823625

This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking spot in the near environment, planning the maneuver, and executing it autonomously. The proposed parking method is free of assumptions and does not use any information about the environment from an external source. Test results with the real vehicle are presented to show the feasibility of the concept. © IFAC.

关键词： Maneuverability

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Aerodynamic model identification of Frauke UAV

Aerodynamic model identification of Frauke UAV

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AIAA Atmospheric Flight Mechanics Conference 2012

作者： Lombaerts, T.J.J. German Aerospace Center DLR Münchner Straße 20 82234 Weßling Germany Institute of Robotics and Mechatronics Department of System Dynamics and Control Germany

ISBN: (数字)9781624101847

ISBN: (纸本)9781624101847

This paper describes the methods and results of an identification campaign, which has been set up for the mini UAV Frauke. The estimated parameter values will be used to elaborate an accurate non-linear simulation model of the UAV, which will subsequently be used to develop model based non-linear control techniques for the vehicle. The identifica- tion procedure has been performed with the so-called two step method. First, the aircraft states are estimated based upon the aircraft kinematics, after which the aerodynamic model parameters are identified. It has been found that, due to the dynamic behaviour of the UAV, a more extended aerodynamic model including nonlinear terms is needed. Residual analysis confirms the accuracy of the obtained results. © 2012 by Thomas Lombaerts, German Aerospace Center DLR. Published by the American institute of Aeronautics and Astronautics, Inc.

关键词： Unmanned aerial vehicles (UAV)

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Robust stability of polynomial families under nonlinearly correlated perturbations: Boundary results with applications 4

Robust stability of polynomial families under nonlinearly co...

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4th European Control Conference, ECC 1997

作者： Wang, Long Department of Mechanics Peking University Beijing100871 China Institute for Robotics and System Dynamics German Aerospace Research Center DLR-Oberpfaffenhofen WesslingD-82230 Germany

Kharitonov-like result and edge result are established for the stability of a class of polynomial families with nonlinearly correlated perturbations. Illustrative examples are presented.

ISBN: (纸本)9783952426906

Kharitonov-like result and edge result are established for the stability of a class of polynomial families with nonlinearly correlated perturbations. Illustrative examples are presented.

关键词： Robust control

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Dynamic trajectory optimization in real time for moving obstacles avoidance by a ten degrees of freedom manipulator

Dynamic trajectory optimization in real time for moving obst...

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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and systems. Human Robot Interaction and Cooperative Robots

作者： M. Schlemmer R. Finsterwalder G. Grubel DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

A method is addressed for real-time dynamics trajectory optimization of kinematically redundant manipulators. The considered task of trajectory planning is to teach interactively position and orientation of the tool-center point frame, which is fixed in the manipulator hand. Thereby the manipulator has to autonomously preserve explicitly formulated kinematic constraints such as moving obstacle avoidance, singularity avoidance, and box-constraints on joint positions as well as dynamic constraints like box-constraints on joint velocities, accelerations and motor torques. The key idea is to transform the resulting overall motion planning problem into a time series of point-to-point trajectory planning problems, which, in turn, may be formulated as parameter optimization problems, that can be efficiently solved in real-time by the numerical method of sequential quadratic programming. Since the approach does not require an inverse kinematics formulation it is feasible for manipulators with redundant kinematics.

关键词： Manipulator dynamics Trajectory Path planning Kinematics Optimization methods Real time systems Acceleration Humans Constraint optimization Robots

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On-line trajectory optimization for kinematically redundant robot-manipulators and avoidance of moving obstacles

On-line trajectory optimization for kinematically redundant ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Schlemmer DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

Novel concepts are presented and verified for real-time dynamics trajectory optimization of kinematically redundant manipulators. The considered task of trajectory planning is to follow a moving target in three-dimensional work space. Hereby, the manipulator has to autonomously preserve explicitly formulated kinematic constraints such as moving obstacle avoidance and box-constraints on joint positions as well as dynamic constraints like box-constraints on joint velocities, accelerations and motor torques. The key idea is to transform the resulting overall motion planning problem into a timed series of variational problems, which, in turn, may be formulated as parameter optimization problems, that can be efficiently solved in real-time by the numerical method of sequential quadratic programming. Since the approach does not require an inverse kinematics formulation it is feasible for manipulators with redundant kinematics. The feasibility of the approach has been verified by example of a ten-degrees-of-freedom manipulator model.

关键词： Robots Manipulator dynamics Path planning Trajectory Kinematics Acceleration Calculus Real time systems Strategic planning Boundary value problems

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A distance function and its gradient for manipulator online obstacle detection and avoidance

A distance function and its gradient for manipulator online ...

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International Conference on Advanced robotics (ICAR)

作者： M. Schlemmer G. Gruebel DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

A novel concept of a smooth distance function for online collision detection and avoidance is presented. The concept is well suited for real-time obstacle avoidance path planning. Computation efficiency is achieved by three properties: 1) the 'collision' surfaces of obstacles need to be approximated by local grid point sets only; 2) a manipulator is approximated by a finite set of ellipsoids (or balls); and 3) its gradient exists and can be calculated efficiently due to the smoothness of the distance function. The concept exploits the recursive forward kinematic structure and is not based on a configuration space representation. Hence it is also applicable for kinematically redundant (multi-) manipulator systems.

关键词： Path planning Orbital robotics Robots Ellipsoids Kinematics Object detection Manipulator dynamics Grid computing Optimal control Proposals

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How to escape from the fragility trap [control]

How to escape from the fragility trap [control]

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American Control Conference (ACC)

作者： D. Kaesbauer J. Ackermann Institute of Robotics and System Dynamics Germany AeroSpace Center Wessling Germany Institite of Robotics and System Dynamics Germany AeroSpace Center Wessling Germany

The inverted pendulum is used as an example to illustrate controller fragility under minimum norm state feedback. The stabilization process gets trapped in a cusp. A parameter space representation shows a safe escape.

关键词： Polynomials State feedback Aerospace control Stability Orbital robotics Aerodynamics Control systems Robust control Cranes Visualization

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Computation of coprime factorizations of rational matrices

Computation of coprime factorizations of rational matrices

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IEEE Conference on Decision and Control

作者： A. Varga DLR Oberpfaffenhofen Institute for Robotics and System Dynamics Wessling Germany

ISBN: (纸本)0780341872

We propose a numerically reliable state space algorithm for computing coprime factorizations of rational matrices with factors having poles in a given stability domain. The new algorithm is based on a recursive generalized Schur technique for poles dislocation by means of proportional-derivative state feedback. The proposed algorithm is generally applicable regardless the underlying descriptor state space representation is minimal or not, or is stabilizable/detectable or not.

关键词： State-space methods Stability State feedback Polynomials Linear systems Software algorithms Orbital robotics Robustness Poles and zeros Computational complexity

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