Paper Info
Title
Feedback control of underactuated systems via sequential composition: Visually guided control of a unicycle
Abstract
We present anew approach 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.
Year
DOI
Venue
2003
10.1007/11008941_30
Springer Tracts in Advanced Robotics
Keywords
Field
DocType
feedback control
Control theory,Computer science,Control engineering,Visual servoing,Underactuation,Nonholonomic system,Mobile robot
Conference
Volume
ISSN
Citations 
15
1610-7438
17
PageRank 
References 
Authors
1.12
11
3
Name
Order
Citations
PageRank
George Kantor122218.52
Alfred A. Rizzi21208179.03
AA Rizzi3181.48