NDLI: Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system

Content Provider	IEEE Xplore Digital Library
Author	Srinivasa, S.S. Erdmann, M.A. Mason, M.T.
Copyright Year	2003
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Srinivasa, S.S.; Erdmann, M.A.; Mason, M.T.)
Abstract	We explore the control of a nonholonomic robot subject to additional constraints on the state variables. In our problem, the user specifies the path of a subset of the state variables (the task freedoms X/sub P/), i.e. a curve X/sub P/(s) where s/spl isin/[0,1] is a parameterization that the user chooses. We control the trajectory of the task freedoms by specifying a bilateral time-scaling s(t) which assigns a point on the path for each time t. The time-scaling is termed bilateral because there is no restriction on s(t), the task freedoms are allowed to move backwards along the path. We design a controller that satisfies the user directive and controls the remaining state variables (the shape freedoms X/sub R/) to satisfy the constraints. Furthermore, we attempt to reduce the number of control switchings, as these result in relatively large errors in our system state. If a constraint is close to being violated (at a switchings point), we back up X/sub P/ along the path for a small time interval and move X/sub S/ to an open region. We show that there are a finite number of switching points for arbitrary task freedom paths. We implement our control scheme on the Mobipulator and discuss a generalization to arbitrary systems satisfying similar properties.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	3391
Ending Page	3396
File Size	388898
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1242114
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Orbital robotics Mobile robots Shape control Wheels Error correction Software architecture Manipulators End effectors Actuators
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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