Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems - Robotics Institute Carnegie Mellon University

Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems

Conference Paper, Proceedings of IEEE Conference on Decision and Control (CDC '10), pp. 3566 - 3571, December, 2010

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.

BibTeX

@conference{Nagarajan-2010-10594,
author = {Umashankar Nagarajan and George A. Kantor and Ralph Hollis},
title = {Hybrid Control for Navigation of Shape-Accelerated Underactuated Balancing Systems},
booktitle = {Proceedings of IEEE Conference on Decision and Control (CDC '10)},
year = {2010},
month = {December},
pages = {3566 - 3571},
keywords = {Balancing Robots, Underactuated Systems, Hybrid Control, Motion Control},
}