Shared-control for fully actuated linear mechanical systems
conference contributionposted on 04.02.2019 by Jingjing Jiang, Alessandro Astolfi
Any type of content contributed to an academic conference, such as papers, presentations, lectures or proceedings.
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.
- Aeronautical, Automotive, Chemical and Materials Engineering
- Aeronautical and Automotive Engineering