Change search
Link to record
Permanent link

Direct link
BETA
Publications (10 of 16) Show all publications
Nikou, A., Heshmati-alamdari, S. & Dimarogonas, D. V. (2019). Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning. In: Proceedings IEEE 15th International Conference on Automation Science and Engineering (CASE): . Paper presented at 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 22-26 Aug, 2019, University of British Columbia, Vancouver, BC, Canada. IEEE
Open this publication in new window or tab >>Design and Experimental Validation of Tube-based MPC for Timed-constrained Robot Planning
2019 (English)In: Proceedings IEEE 15th International Conference on Automation Science and Engineering (CASE), IEEE, 2019Conference paper, Published paper (Other academic)
Abstract [en]

This paper deals with the design and experimental validation of a state-of-the art tube-based Model Predictive Control (MPC) for achieving time-constrained tasks. Given the uncertain nonlinear dynamics of the robot as well as a high-level task written in Metric Interval Temporal Logic (MITL), the goal is to design a feedback control law that guarantees the satisfaction of the task. The workspace is divided into Regions of Interest (RoI) and contains also unsafe regions (obstacles) that the robot should not visit. The feedback control law consists of two terms: a control input which is the outcome of a Finite Horizon Optimal Control (FHOCP); and a state feedback law that guarantees that the nominal trajectories are bounded within a tube centered along the nominal trajectories. The aforementioned control law guarantees that the robot is safely navigated through the RoI within certain time bounds. The proposed framework can handle the rich expressiveness of MITL and is experimentally tested with a Nexus mobile robot in our lab facilities. The experimental results show that the proposed framework is promising for solving real-life robotic as well as industrial problems.

Place, publisher, year, edition, pages
IEEE, 2019
National Category
Engineering and Technology
Identifiers
urn:nbn:se:kth:diva-264984 (URN)10.1109/COASE.2019.8843167 (DOI)2-s2.0-85072984359 (Scopus ID)
Conference
2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 22-26 Aug, 2019, University of British Columbia, Vancouver, BC, Canada
Note

QC 20191216

Available from: 2019-12-09 Created: 2019-12-09 Last updated: 2019-12-16Bibliographically approved
Heshmati Alamdari, S., Nikou, A. & Dimarogonas, D. V. (2019). Robust trajectory tracking control for underactuated autonomous underwater vehicles. In: Proceedings 2019 IEEE Conference on Decision and Control (CDC): . Paper presented at 58th Conference on Decision and Control, Nice, France, December 11th-13th 2019.
Open this publication in new window or tab >>Robust trajectory tracking control for underactuated autonomous underwater vehicles
2019 (English)In: Proceedings 2019 IEEE Conference on Decision and Control (CDC), 2019Conference paper, Published paper (Other academic)
Abstract [en]

Motion control of underwater robotic vehicles isa demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for the underwater robotics community. In that sense, this paper addresses the tracking control problem of 3D trajectories for underactuated underwater robotic vehicles operating in a constrained workspace including obstacles. In particular, a robust Nonlinear Model Predictive Control (NMPC) scheme is presented for the case of underactuated Autonomous Underwater Vehicles (AUVs) (i.e., vehicles actuated only in surge, heave and yaw). The purpose of the controller is to steer the underactuated AUV to a desired trajectory with guaranteed input and state constraints inside a partially known and dynamic environment where the knowledge of the operating workspace is constantly updated on–line via the vehicle’s on–board sensors. In particular, by considering a ball which covers the volume oft he system, obstacle avoidance with any of the detected obstacles is guaranteed, despite the model dynamic uncertainties and the presence of external disturbances representing ocean currents and waves. The proposed feedback control law consists of two parts: an online law which is the outcome of a Finite Horizon Optimal Control Problem (FHOCP) solved for the nominal dynamics; and a state feedback law which is tuned off-line and guarantees that the real trajectories remain bounded in a hyper-tube centered along the nominal trajectories for all times. Finally, a simulation study verifies the performance and efficiency of the proposed approach.

Series
IEEE Proceedings: Conference on Decision and Control (CDC)
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-264985 (URN)
Conference
58th Conference on Decision and Control, Nice, France, December 11th-13th 2019
Note

QC 20191210

Available from: 2019-12-09 Created: 2019-12-09 Last updated: 2019-12-10Bibliographically approved
Nikou, A. & Dimarogonas, D. V. (2019). Robust tube-based model predictive control for time-constrained robot navigation. In: Proceedings of the American Control Conference: . Paper presented at 2019 American Control Conference, ACC 2019; Philadelphia; United States; 10 July 2019 through 12 July 2019 (pp. 1152-1157). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8815253.
Open this publication in new window or tab >>Robust tube-based model predictive control for time-constrained robot navigation
2019 (English)In: Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 1152-1157, article id 8815253Conference paper, Published paper (Refereed)
Abstract [en]

This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of Rn. Initially, we provide a novel class of robust feedback controllers that drive the robot between Regions of Interest (RoI) of the workspace. The control laws consists of two parts: an on-line controller which is the outcome of a Finite Horizon Optimal Control Problem (FHOCP); and a backstepping feedback law which is tuned off-line and guarantees that the real trajectory always remains in a bounded hyper-tube centered along the nominal trajectory of the robot. The proposed controller falls within the so-called tube-based Nonlinear Model Predictive control (NMPC) methodology. Then, given a desired high-level specification for the robot in Metric Interval Temporal Logic (MITL), by utilizing the aforementioned controllers, a framework that provably guarantees the satisfaction of the formula is provided. The proposed framework can handle the rich expressiveness of MITL in both safety and reachability specifications. Finally, the proposed framework is validated by numerical simulations.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019
Series
Proceedings of the American Control Conference, ISSN 0743-1619
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-262598 (URN)2-s2.0-85072274684 (Scopus ID)9781538679265 (ISBN)
Conference
2019 American Control Conference, ACC 2019; Philadelphia; United States; 10 July 2019 through 12 July 2019
Note

QC 20191025

Available from: 2019-10-25 Created: 2019-10-25 Last updated: 2019-10-25Bibliographically approved
Heshmati-Alamdari, S., Bechlioulis, C. P., Karras, G. C., Nikou, A., Dimarogonas, D. V. & Kyriakopoulos, K. J. (2018). A robust interaction control approach for underwater vehicle manipulator systems. Annual Reviews in Control, 46, 315-325
Open this publication in new window or tab >>A robust interaction control approach for underwater vehicle manipulator systems
Show others...
2018 (English)In: Annual Reviews in Control, ISSN 1367-5788, E-ISSN 1872-9088, Vol. 46, p. 315-325Article, review/survey (Refereed) Published
Abstract [en]

In underwater robotic interaction tasks (e.g., sampling of sea organisms, underwater welding, panel handling, etc) various issues regarding the uncertainties and complexity of the robot dynamic model, the external disturbances (e.g., sea currents), the steady state performance as well as the overshooting/undershooting of the interaction force error, should be addressed during the control design. Motivated by the aforementioned considerations, this paper presents a force/position tracking control protocol for an Underwater Vehicle Manipulator System (UVMS) in compliant contact with a planar surface, without incorporating any knowledge of the UVMS dynamic model, the exogenous disturbances or the contact stiffness model. Moreover, the proposed control framework guarantees: (i) certain predefined minimum speed of response, maximum steady state error as well as overshoot/undershoot concerning the force/position tracking errors, (ii) contact maintenance and (iii) bounded closed loop signals. Additionally, the achieved transient and steady state performance is solely determined by certain designer-specified performance functions/parameters and is fully decoupled from the control gain selection and the initial conditions. Finally, both simulation and experimental studies clarify the proposed method and verify its efficiency.

Place, publisher, year, edition, pages
Elsevier, 2018
Keywords
Underwater vehicle manipulator systems, Nonlinear control, Autonomous underwater vehicles, Marine robotics, Force/position control, Robust control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-240790 (URN)10.1016/j.arcontrol.2018.10.003 (DOI)000453618200021 ()2-s2.0-85054423056 (Scopus ID)
Note

QC 20190103

Available from: 2019-01-03 Created: 2019-01-03 Last updated: 2019-08-20Bibliographically approved
Nikou, A., Verginis, C. & Dimarogonas, D. V. (2018). A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems. In: AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings: . Paper presented at 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018, 6-9 November 2018, Porto, Portugal. Institute of Electrical and Electronics Engineers Inc.
Open this publication in new window or tab >>A Tube-based MPC Scheme for Interaction Control of Underwater Vehicle Manipulator Systems
2018 (English)In: AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings, Institute of Electrical and Electronics Engineers Inc. , 2018Conference paper, Published paper (Refereed)
Abstract [en]

Over the last years, the development of Autonomous Underwater Vehicles (AUV) with attached robotic manipulators, the so-called Underwater Vehicle Manipulator System (UVMS), has gained significant research attention, due to the ability of interaction with underwater environments. In such applications, force/torque controllers which guarantee that the end-effector of the UVMS applies desired forces/torques towards the environment, should be designed in a way that state and input constraints are taken into consideration. Furthermore, due to their complicated structure, unmodeled dynamics as well as external disturbances may arise. Motivated by this, we proposed a robust Model Predicted Control Methodology (NMPC) methodology which can handle the aforementioned constraints in an efficient way and it guarantees that the end-effector is exerting the desired forces/torques towards the environment. Simulation results verify the validity of the proposed framework.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2018
Keywords
Autonomous vehicles, End effectors, Manipulators, Underwater equipment, Complicated structures, External disturbances, Interaction controls, Of autonomous underwater vehicles, Robotic manipulators, State and input constraints, Underwater environments, Underwater vehicle manipulator systems, Autonomous underwater vehicles
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-262457 (URN)10.1109/AUV.2018.8729801 (DOI)000492901600099 ()2-s2.0-85068322219 (Scopus ID)9781728102535 (ISBN)
Conference
2018 IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018, 6-9 November 2018, Porto, Portugal
Note

QC 20191018

Available from: 2019-10-18 Created: 2019-10-18 Last updated: 2020-01-08Bibliographically approved
Verginis, C. K., Nikou, A. & Dimarogonas, D. V. (2018). Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control. In: 2018 European Control Conference, ECC 2018: . Paper presented at 16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018 (pp. 733-738). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8550305.
Open this publication in new window or tab >>Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control
2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 733-738, article id 8550305Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a decentralized Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in a bounded workspace with obstacles, while complying with certain input saturations of the agents. The control scheme is based on inter-agent communication and is decentralized in the sense that each agent calculates its own control signal. Moreover, the proposed methodology ensures that the agents do not collide with each other or with workspace obstacles as well as that they do not pass through singular configurations. Finally, simulation results illustrate the validity and efficiency of the proposed method.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-241402 (URN)10.23919/ECC.2018.8550305 (DOI)000467725300120 ()2-s2.0-85059825000 (Scopus ID)9783952426982 (ISBN)
Conference
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Note

QC 20190121

Available from: 2019-01-21 Created: 2019-01-21 Last updated: 2020-03-06Bibliographically approved
Filotheou, A., Nikou, A. & Dimarogonas, D. V. (2018). Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance. In: 2018 European Control Conference, ECC 2018: . Paper presented at 16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018 (pp. 8-13). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8550343.
Open this publication in new window or tab >>Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance
2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 8-13, article id 8550343Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace, which is subset of \mathbb {R}^{n}, with static obstacles. In particular, we propose a decentralized control protocol such that each agent reaches a predefined position at the workspace, while using only local information based on a limited sensing radius. The proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance, as well as, collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a class of Decentralized Nonlinear Model Predictive Controllers (DNMPC) under the presence of disturbances and uncertainties. Finally, simulation results verify the validity of the proposed framework.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-241512 (URN)10.23919/ECC.2018.8550343 (DOI)000467725300002 ()2-s2.0-85059800240 (Scopus ID)9783952426982 (ISBN)
Conference
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Funder
Swedish Research CouncilKnut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research EU, Horizon 2020, Euratom
Note

QC 20190124

Available from: 2019-01-24 Created: 2019-01-24 Last updated: 2020-03-06Bibliographically approved
Nikou, A., Boskos, D., Tumova, J. & Dimarogonas, D. V. (2018). On the timed temporal logic planning of coupled multi-agent systems. Automatica, 97, 339-345
Open this publication in new window or tab >>On the timed temporal logic planning of coupled multi-agent systems
2018 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 97, p. 339-345Article in journal (Refereed) Published
Abstract [en]

This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the other one is an additional bounded control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal Logic (MITL). First, a decentralized abstraction that provides a space and time discretization of the multi agent system is designed. Second, by utilizing this abstraction and techniques from formal verification, we propose an algorithm that computes the individual runs which provably satisfy the high-level tasks. The overall approach is demonstrated in a simulation example conducted in MATLAB environment.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2018
Keywords
Multi-agent systems, Cooperative control, Hybrid systems, Formal verification, Timed logics, Abstractions, Discrete event systems
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-238112 (URN)10.1016/j.automatica.2018.08.023 (DOI)000447568400039 ()2-s2.0-85052902827 (Scopus ID)
Note

QC 20190110

Available from: 2019-01-10 Created: 2019-01-10 Last updated: 2019-01-10Bibliographically approved
Filotheou, A., Nikou, A. & Dimarogonas, D. V. (2018). Robust decentralised navigation of multi-agent systems with collision avoidance and connectivity maintenance using model predictive controllers. International Journal of Control
Open this publication in new window or tab >>Robust decentralised navigation of multi-agent systems with collision avoidance and connectivity maintenance using model predictive controllers
2018 (English)In: International Journal of Control, ISSN 0020-7179, E-ISSN 1366-5820Article in journal (Other academic) Published
Abstract [en]

, with static obstacles. In particular, we propose a decentralised control protocol such that each agent reaches a predefined position at the workspace, while using local information based on a limited sensing radius. The proposed scheme guarantees that the initially connected agents remain always connected. In addition, by introducing certain distance constraints, we guarantee inter-agent collision avoidance as well as collision avoidance with the obstacles and the boundary of the workspace. The proposed controllers employ a class of Decentralized Nonlinear Model Predictive Controllers (DNMPC) under the presence of disturbances and uncertainties. Finally, simulation results verify the validity of the proposed framework.

Place, publisher, year, edition, pages
Taylor & Francis, 2018
Keywords
Multi-agent systems, decentralised control, nonlinear model predictive control, robust control, collision avoidance
National Category
Engineering and Technology
Identifiers
urn:nbn:se:kth:diva-264980 (URN)10.1080/00207179.2018.1514129 (DOI)2-s2.0-850530414532-s2.0-85053041453 (Scopus ID)
Note

QC 20191210

Available from: 2019-12-09 Created: 2019-12-09 Last updated: 2019-12-10Bibliographically approved
Heshmati-alamdari, S., Nikou, A., Kyriakopoulos, K. J. & Dimarogonas, D. V. (2017). A Robust Force Control Approach for Underwater Vehicle Manipulator Systems. IFAC-PapersOnLine, 50(1), 11197-11202
Open this publication in new window or tab >>A Robust Force Control Approach for Underwater Vehicle Manipulator Systems
2017 (English)In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 11197-11202Article in journal (Refereed) Published
Abstract [en]

In various interaction tasks using Underwater Vehicle Manipulator Systems (UVMSs) (e.g. sampling of the sea organisms, underwater welding), important factors such as: i) uncertainties and complexity of UVMS dynamic model ii) external disturbances (e.g. sea currents and waves) iii) imperfection and noises of measuring sensors iv) steady state performance as well as v) inferior overshoot of interaction force error, should be addressed during the force control design. Motivated by the above factors, this paper presents a model-free control protocol for force controlling of an Underwater Vehicle Manipulator System which is in contact with an unknown compliant environment, without incorporating any knowledge of the UVMS's dynamic model, exogenous disturbances and sensor's noise model. Moreover, the transient and steady state response as well as reduction of overshooting force error are solely determined by certain designer-specified performance functions and are fully decoupled by the UVMS's dynamic model, the control gain selection, as well as the initial conditions. Finally, a simulation study clarifies the proposed method and verifies its efficiency.

Place, publisher, year, edition, pages
Elsevier, 2017
Keywords
Autonomous Underwater Vehicle, Force Control, Marine Robotics, Robust Control, Underwater Vehicle Manipulator System
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-223052 (URN)10.1016/j.ifacol.2017.08.1245 (DOI)000423965100353 ()2-s2.0-85031811018 (Scopus ID)
Note

QC 20180215

Available from: 2018-02-15 Created: 2018-02-15 Last updated: 2018-03-05Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-8696-1536

Search in DiVA

Show all publications