Title:
Continuity and Smoothness Properties of Nonlinear Optimization-Based Feedback Controllers

dc.contributor.author Morris, Benjamin J.
dc.contributor.author Powell, Matthew J.
dc.contributor.author Ames, Aaron D.
dc.contributor.corporatename Georgia Institute of Technology. Institute for Robotics and Intelligent Machines en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Matrix Computing en_US
dc.date.accessioned 2016-04-20T17:29:03Z
dc.date.available 2016-04-20T17:29:03Z
dc.date.issued 2015
dc.description © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description DOI: 10.1109/CDC.2015.7402101
dc.description.abstract Online optimization-based controllers are becoming increasingly prevalent as a means to control complex high-dimensional nonlinear systems, e.g., bipedal and humanoid robots, due to their ability to balance multiple control objectives subject to input constraints. Motivated by these applications, the goal of this paper is to explore the continuity and smoothness properties of feedback controllers that are formulated as quadratic programs (QPs). We begin by drawing connections between these optimization-based controllers and a family of perturbed nonlinear programming problems commonly studied in operations research. With a view towards robotic systems, some existing results on perturbed nonlinear programming problems are extended and specialized to address conditions that arise when quadratic programs are used to enforce the convergence of control Lyapunov functions (CLFs). The main result of this paper is a novel set of conditions on the continuity of QPs that can be used when a subset of the constraints vanishes. A simulation study of position regulation in the compass gait biped demonstrates how the new conditions of this paper can be applied to more complex robotic systems. en_US
dc.embargo.terms null en_US
dc.identifier.citation Morris, B. J., Powell, M. J., & Ames, A. D. (2015). Continuity and Smoothness Properties of Nonlinear Optimization-based Feedback Controllers. 54th IEEE Conference on Decision and Control (CDC), 2015, pp. 151-158. en_US
dc.identifier.doi 10.1109/CDC.2015.7402101
dc.identifier.isbn 978-1-4799-7884-7
dc.identifier.uri http://hdl.handle.net/1853/54750
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers
dc.subject Control Lyapunov function en_US
dc.subject Feedback controllers en_US
dc.subject Nonlinear systems en_US
dc.subject Quadratic programs
dc.title Continuity and Smoothness Properties of Nonlinear Optimization-Based Feedback Controllers en_US
dc.type Text
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
local.contributor.corporatename Advanced Mechanical Bipedal Experimental Robotics Lab
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
relation.isOrgUnitOfPublication 29d75055-4650-4521-943e-7f3cf6efc029
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