Analysis of the Discontinuities in Prioritized Tasks-Space Control Under Discrete Task Scheduling Operations

François Keith 1, 2 Pierre-Brice Wieber 1 Nicolas Mansard 3 Abderrahmane Kheddar 2
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper examines the control continuity in hierarchical task-space controllers. While the continuity is ensured for any a priori fixed number of tasks -even in ill-conditioned configurations-, the control resulting from a hierarchical stack-of-task computation may not be continuous under some discrete events. In particular, we study how the continuity of the stack-of-task control computation is affected under discreet scheduling operations such as on-the-fly priority switching between tasks, or tasks insertion and removal, which changes the number of tasks in the stack controller. Different ways to formulate a hierarchy of tasks are presented together with their continuity properties, which is thoroughly analyzed under such discreet scheduling operations.
Type de document :
Communication dans un congrès
IROS'11: International Conference on Intelligent Robots and Systems, Sep 2011, San Francisco, United States. IEEE/RSJ, pp.3887-3892, 2011, <10.1109/IROS.2011.6094706>
Liste complète des métadonnées


https://hal.inria.fr/hal-00649287
Contributeur : Pierre-Brice Wieber <>
Soumis le : mercredi 7 décembre 2011 - 15:33:10
Dernière modification le : vendredi 9 juin 2017 - 10:42:31
Document(s) archivé(s) le : lundi 5 décembre 2016 - 07:00:57

Fichier

FinalVersion.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

François Keith, Pierre-Brice Wieber, Nicolas Mansard, Abderrahmane Kheddar. Analysis of the Discontinuities in Prioritized Tasks-Space Control Under Discrete Task Scheduling Operations. IROS'11: International Conference on Intelligent Robots and Systems, Sep 2011, San Francisco, United States. IEEE/RSJ, pp.3887-3892, 2011, <10.1109/IROS.2011.6094706>. <hal-00649287>

Partager

Métriques

Consultations de
la notice

379

Téléchargements du document

249