Hybrid control for navigation of shape-accelerated underactuated balancing systems

@article{Nagarajan2010HybridCF,
  title={Hybrid control for navigation of shape-accelerated underactuated balancing systems},
  author={Umashankar Nagarajan and George Kantor and Ralph L. Hollis},
  journal={49th IEEE Conference on Decision and Control (CDC)},
  year={2010},
  pages={3566-3571}
}
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… CONTINUE READING