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Abstract

This paper presents a hybrid control strategy for navigation of shape-accelerated underactuated balancing systems with dynamic constraints. It extends the concept of sequential composition to perform discrete state-based switching between asymptotically convergent control policies to produce a globally asymptotically convergent feedback policy. The individual control policies consists of an external trajectory planner, a shape trajectory planner, an external trajectory tracking controller and a balancing controller. The paper also presents an integrated planning and control procedure, wherein standard graph-search algorithms are used to plan for the sequence of control policies that will help the system achieve a navigation goal. Simulation results of the 3D ballbot system navigating an environment with static obstacles to reach the goal position are also presented.

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Associated Project(s): Dynamically-Stable Mobile Robots in Human Environments

Text Reference

George A. Kantor and Ralph Hollis, "Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems," Proceedings of the 49th IEEE Conference on Decision and Control, December, 2010.

BibTeX Reference

@inproceedings{Kantor_2010_6943,
   author = "George A Kantor and Ralph Hollis",
   title = "Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems",
   booktitle = "Proceedings of the 49th IEEE Conference on Decision and Control",
   month = "December",
   year = "2010",
}

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