- Title
- Switched passivity-based control of the Chaplygin Sleigh
- Creator
- Ferguson, Joel; Donaire, Alejandro; Middleton, Richard H.
- Publisher Link
- http://dx.doi.org/10th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2016). Proceedings of the 10th IFAC Symposium on Nonlinear Control Systems [presented in IFAC-PapersOnLine, Vol. 49 No. 18] (Monterey, CA 23-25 August, 2016) p. 1012-1017
- Publisher Link
- http://dx.doi.org/10.1016/j.ifacol.2016.10.300
- Publisher
- Elsevier
- Resource Type
- conference paper
- Date
- 2016
- Description
- In this paper, a switched controller for the Chaplygin Sleigh system based on passivity and energy shaping is presented. The Chaplygin sleigh cannot be asymptotically stabilised with a smooth control law, since Brockett's necessary conditions for smooth stabilisation is not satisfied. To asymptotically stabilise the origin, two potential energy shaping control laws are developed that render the system asymptotically stable to two equilibrium manifolds, which intersect at the origin. A switching strategy between the energy shaping controllers is derived that ensures the system converges to the intersection of the equilibrium manifolds.
- Subject
- constraints; nonholonomic; passivity based control; path planning; Port-Hamiltonian
- Identifier
- http://hdl.handle.net/1959.13/1331654
- Identifier
- uon:26670
- Identifier
- ISSN:2405-8963
- Rights
- Copyright © 2016 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
- Language
- eng
- Full Text
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