A unifying methodology for the control of robotic systems. Peters, J., Mistry, M., Udwadia, F., Cory, R., Nakanishi, J., & Schaa, S. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1824-1831, 2005. IEEE.
abstract   bibtex   
Recently, R. E. Udwadia (2003) suggested to derive tracking controllers for mechanical systems using a generalization of Gauss' principle of least constraint. This method allows us to reformulate control problems as a special class of optimal control. We take this line of reasoning one step further and demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sarcos Master Arm robot for some of the derived controllers. We believe that the suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equations, both with or without external constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.
@inproceedings{ Peters:2005aa,
  abstract = {Recently, R. E. Udwadia (2003) suggested to derive tracking controllers for mechanical systems using a generalization of Gauss' principle of least constraint. This method allows us to reformulate control problems as a special class of optimal control. We take this line of reasoning one step further and demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sarcos Master Arm robot for some of the derived controllers. We believe that the suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equations, both with or without external constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.},
  accessed = {2011-12-29},
  author = {Peters, J. and Mistry, M. and Udwadia, F. and Cory, R. and Nakanishi, J. and Schaa, S.},
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  booktitle = {2005 IEEE/RSJ International Conference on Intelligent Robots and Systems},
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  created = {2012-02-28T19:29:30.000Z},
  date-added = {2015-10-11 19:53:40 +0000},
  date-modified = {2015-10-11 19:53:49 +0000},
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  pages = {1824-1831},
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  publisher = {IEEE},
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  title = {A unifying methodology for the control of robotic systems},
  type = {inProceedings},
  websites = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1545516},
  year = {2005}
}

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