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.

• Type: Journal
• Year: 2010
• Where: CDC
• Authors: Umashankar Nagarajan, George Kantor, Ralph L. Hollis
• Keywords: CDC 2010, Control Policies, Control Systems, External Trajectory, Trajectory Planner