Hybrid (discrete-continuous) control of robotic systems

摘要

Mechatronic multicontact systems (MMS) are a challenging subclass of hybrid-discrete-continuous-dynamical systems. Depending on the typically integer-valued number of (unilateral) contacts the structure of dynamic models varies. Typical hybrid control applications of MMS are multi-fingered robotic hands, multi-legged walking machines, or cars. In this paper the hybrid state model is presented as a general model for a wide class of hybrid dynamical systems. Hybrid feedback and optimal control concepts are proposed. A cooperative multi-arm transport task is presented as an application example.