Published October 22, 2021 | Version v1
Journal article Open

Gravity compensation and optimal control of actuated multibody system dynamics

  • 1. GRVC Robotics Lab., Universidad de Sevilla, Seville, Spain


This work investigates the gravity compensation topic, from a control perspective. The gravity could be levelled by a compensating mechanical system or in the control law, such as proportional derivative (PD) plus gravity, sliding mode control, or computed torque method. The gravity compensation term is missing in linear and nonlinear optimal control, in both continuous- and discrete-time domains. The equilibrium point of the control system is usually zero and this makes it impossible to perform regulation when the desired condition is not set at origin or in other cases, where the gravity vector is not zero at the equilibrium point. The system needs a steady-state input signal to compensate for the gravity in those conditions. The stability proof of the gravity compensated control law based on nonlinear optimal control and the corresponding deviation from optimality, with proof, are introduced in this work. The same concept exists in discrete-time control since it uses analog to digital conversion of the system and that includes the gravity vector of the system. The simulation results highlight two important cases, a robotic manipulator and a tilted-rotor hexacopter, as an application to the claimed theoretical statements.


This work is supported by the ERC as part of GRIFFIN advanced Grant 2017, Action 788247, and by the EU H2020 under AERIAL-CORE project contract 871479, and HYFLIERS project 779411.



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HYFLIERS – HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection 779411
European Commission
GRIFFIN – General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety 788247
European Commission
AERIAL-CORE – AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety 871479
European Commission