Economic model predictive control for snake robot locomotion

Marko Nonhoff, Philipp N. Kohler, Anna M. Kohl, Kristin Y. Pettersen, Frank Allgower
2019 2019 IEEE 58th Conference on Decision and Control (CDC)  
In this work, the control of snake robot locomotion via economic model predictive control (MPC) is studied. Only very few examples of applications of MPC to snake robots exist and rigorous proofs for recursive feasibility and convergence are missing. We propose an economic MPC algorithm that maximizes the robot's forward velocity and integrates the choice of the gait pattern into the closed loop. We show recursive feasibility of the MPC optimization problem, where some of the developed
more » ... developed techniques are also applicable for the analysis of a more general class of system. Besides, we provide performance results and illustrate the achieved performance by numerical simulations. We thereby show that the economic MPC algorithm outperforms a standard lateral undulation controller and achieves constraint satisfaction. Surprisingly, a gait pattern different to lateral undulation results from the optimization. Marko Nonhoff is with the Institute of Automatic Control, Leibniz University Hannover, 30167 Hannover, Germany, Philipp N. Köhler and Frank Allgöwer are with the
doi:10.1109/cdc40024.2019.9029627 dblp:conf/cdc/NonhoffKKPA19 fatcat:zxu3f7w4rndizezzidiqryiqrq