登入選單

返回Google圖書搜尋

Sequential Composition for Control of Underactuated Systems

George Kantor

出版	Carnegie Mellon University, the Robotics Institute, 2003
URL	http://books.google.com.hk/books?id=t6ENuAAACAAJ&hl=&source=gbs_api

註釋

Abstract: "We present a new 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 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 verify the result through simulation and experiment. This technical report presents a detailed description of results published in [10]."