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Carnegie Mellon Robotics Institute

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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.

Keywords

Balancing Robots, Underactuated Systems, Hybrid Control, Motion Control

Notes

Associated Center(s) / Consortia: Center for the Foundations of Robotics

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

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

Number of pages: 6

Text Reference

Umashankar Nagarajan, George A. Kantor, and Ralph Hollis, "Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems," IEEE Conference on Decision and Control (CDC), December, 2010, pp. 3566-3571.

BibTeX Reference

@inproceedings{Nagarajan_2010_7041,
   author = "Umashankar Nagarajan and George A Kantor and Ralph Hollis",
   title = "Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems",
   booktitle = "IEEE Conference on Decision and Control (CDC)",
   pages = "3566-3571",
   month = "December",
   year = "2010",
}

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