Shared-control for fully actuated linear mechanical systems

2019-02-04T10:14:06Z (GMT) by Jingjing Jiang Alessandro Astolfi
This paper presents a shared-control algorithm for fully actuated, linear, mechanical systems. It is assumed that the position of the mechanical system is constrained by a set of linear inequalities. These model convex and with the addition of “logical variables” non-convex feasible sets. The shared-control action is implemented using an hysteresis-based switching strategy. Formal properties of the algorithm are established using a partial Lyapunov analysis. Simulation results on simple case studies illustrate the effectiveness of the proposed algorithm.

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CC BY-NC-ND 4.0