Abstract
We present a newapproach 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 present experimental results.
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© 2005 Springer-Verlag Berlin Heidelberg
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Kantor, G., Rizzi, A.A. (2005). Feedback Control of Underactuated Systems via Sequential Composition: Visually Guided Control of a Unicycle. In: Dario, P., Chatila, R. (eds) Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics, vol 15. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11008941_30
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DOI: https://doi.org/10.1007/11008941_30
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23214-8
Online ISBN: 978-3-540-31508-7
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