Passivity-based control ensures the implementation of a desired behavior in a controlled system, while preserving robust stability. In this letter, we propose a new method to guarantee passivity, based on energy-tank control and Control Barrier Functions. The goal is to accomplish a desired behavior with minimal modification, while ensuring passivity. The proposed method is suitable for a wide range of applications: whenever some desired control action may disrupt the passivity of the system, the designed Control Barrier Function will modify the behavior to enforce the preservation of passivity. Simulations and real experiments were carried out to prove the effectiveness and the flexibility of the proposed method: in particular, a simple case of variable stiffness in a mass-spring-damper system and a multi-robot controller based on a time-varying artificial potential field.

Passivity and Control Barrier Functions: Optimizing the Use of Energy / Capelli, B.; Secchi, C.; Sabattini, L.. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 7:2(2022), pp. 1356-1363. [10.1109/LRA.2021.3139951]

Passivity and Control Barrier Functions: Optimizing the Use of Energy

Capelli B.
;
Secchi C.;Sabattini L.
2022

Abstract

Passivity-based control ensures the implementation of a desired behavior in a controlled system, while preserving robust stability. In this letter, we propose a new method to guarantee passivity, based on energy-tank control and Control Barrier Functions. The goal is to accomplish a desired behavior with minimal modification, while ensuring passivity. The proposed method is suitable for a wide range of applications: whenever some desired control action may disrupt the passivity of the system, the designed Control Barrier Function will modify the behavior to enforce the preservation of passivity. Simulations and real experiments were carried out to prove the effectiveness and the flexibility of the proposed method: in particular, a simple case of variable stiffness in a mass-spring-damper system and a multi-robot controller based on a time-varying artificial potential field.
2022
7
2
1356
1363
Passivity and Control Barrier Functions: Optimizing the Use of Energy / Capelli, B.; Secchi, C.; Sabattini, L.. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 7:2(2022), pp. 1356-1363. [10.1109/LRA.2021.3139951]
Capelli, B.; Secchi, C.; Sabattini, L.
File in questo prodotto:
File Dimensione Formato  
Passivity_and_Control_Barrier_Functions_Optimizing_the_Use_of_Energy.pdf

Accesso riservato

Tipologia: Versione pubblicata dall'editore
Dimensione 902.02 kB
Formato Adobe PDF
902.02 kB Adobe PDF   Visualizza/Apri   Richiedi una copia
Pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1280837
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 11
  • ???jsp.display-item.citation.isi??? 8
social impact