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

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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].

Sponsor: DARPA/ONR
Grant ID: N000149810747

Associated lab/group: Microdynamic Systems Laboratory
Associated project: RHex Robot

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

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