Quadratic Optimization of Impedance Control

Rolf Johansson; Mark W. Spong

doi:10.1109/ROBOT.1994.351417

Quadratic Optimization of Impedance Control

Rolf Johansson, Mark W. Spong

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design parameters in the form of square weighting matrices or impedance matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control and force control.

Original language	English
Title of host publication	Proceedings of the 1994 IEEE International Conference on Robotics and Automation
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
DOIs	https://doi.org/10.1109/ROBOT.1994.351417
Publication status	Published - 1994
Event	1994 IEEE International Conference on Robotics and Automation - San Diego, United States Duration: 1994 May 8 → 1994 May 13

Conference

Conference	1994 IEEE International Conference on Robotics and Automation
Country/Territory	United States
City	San Diego
Period	1994/05/08 → 1994/05/13

Subject classification (UKÄ)

Control Engineering

Access to Document

10.1109/ROBOT.1994.351417

1 Finished
1 Active

RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research
Lund Research Programme in Autonomous Robotics, 1993-1995
Johansson, R. (PI)
1993/01/01 → 1995/12/31
Project: Research

RobotLab LTH Infrastructure
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
Faculty of Engineering, LTH
Infrastructure

Cite this

@inproceedings{6c8f73ee2e8843eba807cae1980f3ace,

title = "Quadratic Optimization of Impedance Control",

abstract = "This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design parameters in the form of square weighting matrices or impedance matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control and force control.",

author = "Rolf Johansson and Spong, {Mark W.}",

year = "1994",

doi = "10.1109/ROBOT.1994.351417",

language = "English",

booktitle = "Proceedings of the 1994 IEEE International Conference on Robotics and Automation",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "1994 IEEE International Conference on Robotics and Automation ; Conference date: 08-05-1994 Through 13-05-1994",

}

Johansson, R & Spong, MW 1994, Quadratic Optimization of Impedance Control. in Proceedings of the 1994 IEEE International Conference on Robotics and Automation. IEEE - Institute of Electrical and Electronics Engineers Inc., 1994 IEEE International Conference on Robotics and Automation, San Diego, California, United States, 1994/05/08. https://doi.org/10.1109/ROBOT.1994.351417

TY - GEN

T1 - Quadratic Optimization of Impedance Control

AU - Johansson, Rolf

AU - Spong, Mark W.

PY - 1994

Y1 - 1994

N2 - This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design parameters in the form of square weighting matrices or impedance matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control and force control.

AB - This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design parameters in the form of square weighting matrices or impedance matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control and force control.

U2 - 10.1109/ROBOT.1994.351417

DO - 10.1109/ROBOT.1994.351417

M3 - Paper in conference proceeding

BT - Proceedings of the 1994 IEEE International Conference on Robotics and Automation

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 1994 IEEE International Conference on Robotics and Automation

Y2 - 8 May 1994 through 13 May 1994

ER -

Quadratic Optimization of Impedance Control

Abstract

Conference

Subject classification (UKÄ)

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RobotLab LTH

Lund Research Programme in Autonomous Robotics, 1993-1995

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