Proceedings ArticleDOI
An application of sequential composition control to cooperative systems
Esmaeil Najafi,Robert Babuska,Gabriel A. D. Lopes +2 more
- pp 15-20
TLDR
This paper extends the standard sequential composition by introducing a novel approach to compose multiple sequential composition controllers towards cooperative control of an inverted pendulum system collaborating with a second-order DC motor for cooperative swing-up maneuvers.Abstract:
Sequential composition is an effective supervisory control approach for addressing challenging control problems on complex dynamical systems. It constructs a back-chaining sequence of controllers to achieve the control objective using simple local controllers. Although sequential composition works properly for a single system, it is not designed for cooperative systems. This paper extends the standard sequential composition by introducing a novel approach to compose multiple sequential composition controllers towards cooperative control. Given two or more systems, cooperation is achieved by composing each of the systems' supervisory finite-state machines, together with the estimation of the domains of attraction of the composed controllers. We present the simulation and experimental results of an inverted pendulum system collaborating with a second-order DC motor for cooperative swing-up maneuvers.read more
Citations
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Journal ArticleDOI
A fast sampling method for estimating the domain of attraction
TL;DR: In this paper, a sampling approach is proposed to estimate the domain of attraction (DoA) of nonlinear systems in real time, which is validated to approximate the DoAs of stable equilibria.
Journal ArticleDOI
Robot Contact Language for Manipulation Planning
TL;DR: A contact-based language for robotic manipulation and planning, based on the contact between a collection of objects, robots, and surfaces, is proposed, which considers making and breaking contact as the bridge between high-level planning and low-level controllers.
Journal ArticleDOI
Learning Sequential Composition Control
TL;DR: A learning approach to augment the standard sequential composition framework by using online learning to handle unforeseen situations and the results show that in both cases a new controller can be rapidly learned and added to the supervisory control structure.
Proceedings ArticleDOI
Towards cooperative sequential composition control
TL;DR: The standard sequential composition is extended by introducing a novel approach to compose multiple sequential composition controllers towards cooperative control, which can fulfill the tasks which are not possible to satisfy with the original controllers individually.
Proceedings ArticleDOI
ROS-based SLAM and Navigation for a Gazebo-Simulated Autonomous Quadrotor
TL;DR: In this paper, a robotic operating system based on autonomous simultaneous localization and mapping (SLAM), and robot navigation implementation of a Parrot AR.2.0 quadrotor, which is equipped with a laser scanner and inertial measurement unit, is presented.
References
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