System and Method for Controlling an Operation of a Manipulation System
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United States of America Patent
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Sep 26, 2024
app pub date -
Mar 22, 2023
filing date -
Mar 22, 2023
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Abstract
The present disclosure provides a system and a method for controlling an operation of a manipulation system. The method comprises formulating an optimization problem based on a Stochastic Discrete-time Linear Complementarity Model (SDLCM) of a manipulation task, and a sample average approximation; solving the formulated optimization problem using an important-particle algorithm to compute an optimal state trajectory, an optimal feedforward control trajectory, an optimal complementarity variable trajectory, a state feedback gain, and a complementarity feedback gain; collecting, measurements indicative of a current state trajectory and a current complementarity variable trajectory; determining an online control input based on the optimal feedforward control trajectory, a deviation of the current state trajectory from the optimal state trajectory, a deviation of the current complementarity variable trajectory from the optimal complementarity variable trajectory, the state feedback gain, and the complementarity feedback gain; and controlling actuators of the manipulation system according to the online control input.
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