Sequential Composition for Control of Underactuated Systems

George A. Kantor and Alfred Rizzi
tech. report CMU-RI-TR-03-23, Robotics Institute, Carnegie Mellon University, December, 2003


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Abstract
We present a new approach to developing hybrid feedback policies for the control of systems with nonholonomic constraints. We extend the idea of sequential composition and use it to to switch between controllers in a state based manner, resulting in a globally convergent, pure feedback policy. Individual controllers in the palette are inspired by variable constraint control. We solve a vision guided unicycle navigation problem and verify the result through simulation and experiment. This technical report presents a detailed description of results published in [10].

Keywords
hybrid control, visual servoing, nonholonomic constraints, underactuated systems

Notes
Sponsor: DARPA/ONR
Grant ID: N000149810747
Associated Lab(s) / Group(s): Microdynamic Systems Laboratory
Associated Project(s): RHex Robot

Text Reference
George A. Kantor and Alfred Rizzi, "Sequential Composition for Control of Underactuated Systems," tech. report CMU-RI-TR-03-23, Robotics Institute, Carnegie Mellon University, December, 2003

BibTeX Reference
@techreport{Kantor_2003_4554,
   author = "George A Kantor and Alfred Rizzi",
   title = "Sequential Composition for Control of Underactuated Systems",
   booktitle = "",
   institution = "Robotics Institute",
   month = "December",
   year = "2003",
   number= "CMU-RI-TR-03-23",
   address= "Pittsburgh, PA",
}