Control of Affine Systems

State x
Input u
State equations

Output

Lie Derivatives
Want
or

Need derivative of the output function

Lie Derivatives

State x

Affine, Single Input Single

Output

Input u
State equations

Output

Relative degree, r

The index of the first nonzero term in the sequence

r=k+1
3

Single degree of freedom arm

1
ml q + mgl sin q =
2

0
x2
x =
+ 1 u
g
sin(x
)
1
l
ml2
2

f (x)

l
q
m

x1
q
x=
=
x2
q

h = x1

g(x)

Lg h = 0

Lf h = x2

1
Lg Lf h =
ml2

L2f h

g
sin x1
l

Affine, SISO
r=1

Linear control,
model independent
feed forward
feedback

r=2

r=3

General form of control law

5

Single degree of freedom arm

1
ml q + mgl sin q =
2

0
x2
x =
+ 1 u
g
sin(x
)
1
l
ml2
2

f (x)

1
Lg Lf h =
ml2

q
m

x1
q
x=
=
x2
q

h = x1

g(x)
L2f h

g
sin x1
l

Fully-actuated robot (n joints, n actuators)

M (q)
q + C(q, q)
q + N (q) =
Dynamic model

M is the positive definite, n by n inertia matrix

C is the n-dimensional vector of Coriolis and centripetal forces

N is the n-dimensional vector of gravitational forces

is the n-dimensional vector of actuator forces and torques

is skew symmetric

Two general schemes

Point to point control

Trajectory control

Fully-actuated robot (continued)

M (q)
q + C(q, q)
q + N (q) =

x1
q
x=
=
x2
q

x =

u = 2 Rn

x2
0
+
M (x1 ) 1 (N (x1 ) + C(x1 , x2 )x2 )
M (x1 )

y = qdes

q 2 Rn

Fully-actuated robot (continued)

Relative degree is 2

u = (Lg Lf h)

Lf Lf h + ydes + k1 (y des

y)
+ k2 (y des

Control law
= M (q) ydes + k1 (y des

y)
+ k2 (y des

y) + C(q, q)
q + N (q)

y)

Visual Servoing

10

Position-Based Visual Servoing

Desired
Cartesian
position/
orientation

Actual Cartesian
position/orientation

Image Based Visual Servoing

Desired position
of feature(s) in
image

Actual feature position

11

Image-Based Visual Servoing

Current view

Desired view

8 outputs, 6 inputs

12

Image plane motion

13

Image plane motion

14

Image Based Visual Servoing

Image-Based Visual Servoing for 3 Features

"

v =

f
u Z

f
v Z

Z
v

u u
v

f
2
f +2v v
2
v f

g(x)
Relative degree is 1

f 2 +2u u
2
u f
v u
v

vx
7
#6
6 vy 7
7
v 6
6 vz 7
6 7
u
6!x 7
4 !y 5
!z

input

u 2 R6

16

Kinematic planar cart

State equations, inputs

Outputs

x + L cos
y = h(x) =
y + L sin

Relative degree is 1
17

Planar Quadrotor

18

Planar Quadrotor

y
y = h(x) =
z
Repeated differentiation of h(x) does not yield explicit dependence on u
Must extend state with higher order derivatives of input
New
extended
state

x
= y
New
input

u
1
u
1
u
=
=
u
2
u2

u1

u 1

T
19

Planar Quadrotor

y
y = h(x) =
z
2

6
6
6
6
6
x
= 6
6 u1
6m
6
6
4

2
y
0
7 60
z
7 6
7 60

7 6
u1
7 60
sin
7+6
m
60
cos
g7
7 6
7 60
0
7 6
5 40
u 1
1
0

f(
x)

Verify

0
0
0
0
0

7
7
7
7
7 u
7 1
7 u
2
7
1 7
Ixx 7
0 5
0

g(
x)

Lg L3fh is full rank

20

Dynamic State Feedback

v=Kz
21

Differential Flatness
All state variables and the inputs can be written as smooth
functions of flat outputs and their derivatives

diffeomorphism

22