By Topic

Hybrid control for navigation of shape-accelerated underactuated balancing systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Nagarajan, U. ; Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Kantor, G. ; Hollis, R.

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.

Published in:

Decision and Control (CDC), 2010 49th IEEE Conference on

Date of Conference:

15-17 Dec. 2010