Paper ID: 2303.01705

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems

Andre Coelho, Alin Albu-Schaeffer, Arne Sachtler, Hrishik Mishra, Davide Bicego, Christian Ott, Antonio Franchi

This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigenmanifold theory, which defines the sets of line-shaped oscillations of a robot as an invariant two-dimensional submanifold of its state space. By defining the control problem as a nonlinear program (NLP), the controller is able to deal with constraints in the state and control variables and be energy-efficient not only in its final trajectory but also during the convergence phase. An initial implementation of this approach is proposed, analyzed, and tested in simulation.

Submitted: Mar 3, 2023