Sequential Composition for Control of Underactuated Systems
Tech. Report, CMU-RI-TR-03-23, Robotics Institute, Carnegie Mellon University, December, 2003
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].
BibTeX
@techreport{Kantor-2003-8825,author = {George A. Kantor and Alfred Rizzi},
title = {Sequential Composition for Control of Underactuated Systems},
year = {2003},
month = {December},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-03-23},
keywords = {hybrid control, visual servoing, nonholonomic constraints, underactuated systems},
}
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