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CDC
2010
IEEE

Hybrid control for navigation of shape-accelerated underactuated balancing systems

9 years 5 months ago
Hybrid control for navigation of shape-accelerated underactuated balancing systems
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.
Umashankar Nagarajan, George Kantor, Ralph L. Holl
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Umashankar Nagarajan, George Kantor, Ralph L. Hollis
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