Safety-triggered stochastic tracking control for a cushion robot by constraining velocity considering the estimated internal disturbance
作者：
Highlights：
• The internal disturbance caused by different users is the main challenge faced by human-robot systems. We established a new stochastic dynamic model where the user mass is expressed by a random parameter to describe the internal disturbance. Furthermore, we presented a neural network for estimating the internal disturbance to address random variations in the masses of different users.
• The robot’s velocity is carefully constrained by using a kinematic model. We propose using model predictive method to adjust the velocity input to every omnidirectional wheel. We revealed the relationship between the kinematic model for constraining the velocity and the dynamic model for trajectory tracking control.
• We developed a safety-triggered tracking controller by using the velocity constraint information to design trigger conditions for controlling the actual trajectory of the robot. We proposed a new tracking control method that constrains the velocity and trajectory simultaneously and ensure the safety of the motion states of the human-robot system. We also evaluated the effectiveness of the proposed algorithm for a cushion robot.
摘要
•The internal disturbance caused by different users is the main challenge faced by human-robot systems. We established a new stochastic dynamic model where the user mass is expressed by a random parameter to describe the internal disturbance. Furthermore, we presented a neural network for estimating the internal disturbance to address random variations in the masses of different users.•The robot’s velocity is carefully constrained by using a kinematic model. We propose using model predictive method to adjust the velocity input to every omnidirectional wheel. We revealed the relationship between the kinematic model for constraining the velocity and the dynamic model for trajectory tracking control.•We developed a safety-triggered tracking controller by using the velocity constraint information to design trigger conditions for controlling the actual trajectory of the robot. We proposed a new tracking control method that constrains the velocity and trajectory simultaneously and ensure the safety of the motion states of the human-robot system. We also evaluated the effectiveness of the proposed algorithm for a cushion robot.
论文关键词：Safety-triggered stochastic tracking control,Cushion robot,Velocity constraint,Random user variation,Internal disturbance
论文评审过程：Received 17 May 2021, Revised 23 October 2021, Accepted 28 October 2021, Available online 12 November 2021, Version of Record 12 November 2021.
论文官网地址：https://doi.org/10.1016/j.amc.2021.126761
