Abstract
In this review we explore the possibility of adapting first order hybrid feedback controllers for nonholonomically constrained systems to their dynamical counterparts. For specific instances of first order models of such systems, we have developed gradient based hybrid controllers that use Navigation functions to reach point goals while avoiding obstacle sets along the way. Just as gradient controllers for standard quasi-static mechanical systems give rise to generalized “PD-style” controllers for dynamical versions of those standard systems, so we believe it will be possible to construct similar “lifts” in the presence of non-holonomic constraints notwithstanding the necessary absence of point attractors.
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Lopes, G.A., Koditschek, D.E. (2006). Navigation Functions for Dynamical, Nonholonomically Constrained Mechanical Systems. In: Kawamura, S., Svinin, M. (eds) Advances in Robot Control. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-37347-6_7
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DOI: https://doi.org/10.1007/978-3-540-37347-6_7
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