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Towards a geometric theory of hybrid systems
 In HSCC’00, number 1790 in LNCS
, 2000
"... Abstract. We propose a framework for a geometric theory of hybrid systems. Given a deterministic, nonblocking hybrid system, we introduce the notion of its hybrifold with the associated hybrid flow on it. This enables us to study hybrid systems from a global geometric perspective as (generally non ..."
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Cited by 42 (16 self)
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Abstract. We propose a framework for a geometric theory of hybrid systems. Given a deterministic, nonblocking hybrid system, we introduce the notion of its hybrifold with the associated hybrid flow on it. This enables us to study hybrid systems from a global geometric perspective as (generally nonsmooth) dynamical systems. This point of view is adopted in studying the Zeno phenomenon. We show that it is due to nonsmoothness of the hybrid flow. We introduce the notion of topological equivalence of hybrid systems and locally classify isolated Zeno states in dimension two.
An economical microcar testbed for validation of cooperative control strategies
 Proceedings of the 2006 American Control Conference
"... Abstract — This paper describes the design of an economical cooperative control testbed using 1/64 size microcar vehicles. The vehicles have similar motion constraints to those found in common kinematic models for UAVs. We demonstrate the practical use of this testbed for algorithm validation by im ..."
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Cited by 8 (6 self)
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Abstract — This paper describes the design of an economical cooperative control testbed using 1/64 size microcar vehicles. The vehicles have similar motion constraints to those found in common kinematic models for UAVs. We demonstrate the practical use of this testbed for algorithm validation by implementing a recently proposed UAVrouting algorithm [J. J. Enright et al Proc. AIAA Conf. Guidance, Nav. and Control, 2005]. The experimental results lie within the theoretical bounds predicted for this algorithm. I.
Hybrid Control Design for a Wheeled Mobile Robot
"... Abstract. We present a hybrid systems solution to the problem of trajectory tracking for a fourwheel steered fourwheel driven mobile robot. The robot is modelled as a nonholonomic dynamic system subject to pure rolling, noslip constraints. Under normal driving conditions, a nonlinear trajectory ..."
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Cited by 2 (0 self)
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Abstract. We present a hybrid systems solution to the problem of trajectory tracking for a fourwheel steered fourwheel driven mobile robot. The robot is modelled as a nonholonomic dynamic system subject to pure rolling, noslip constraints. Under normal driving conditions, a nonlinear trajectory tracking feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points. The stability of the hybrid control scheme is finally analyzed using Lyapunovlike arguments.
Reducing a Class of Polygonal Path Tracking to Straight Line Tracking via Nonlinear StripWise Affine Transformation
 MATHEMATICS AND COMPUTERS IN SIMULATION
, 2008
"... In this paper a piecewise linear homeomorphism is presented that maps a strictly monotone polygonal chain to a straight line. This mapping enables one to reduce the path tracking task for mobile robots to straight line tracking. Due to the simplicity of the transformation, closed form solutions for ..."
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In this paper a piecewise linear homeomorphism is presented that maps a strictly monotone polygonal chain to a straight line. This mapping enables one to reduce the path tracking task for mobile robots to straight line tracking. Due to the simplicity of the transformation, closed form solutions for the direct and inverse mapping are presented. Furthermore, the transformation also defines a feedback equivalence relation between the original and the transformed system equations of the mobile robot. It is shown that the form of the system equations is preserved and that the transformation essentially maps a carlike robot in the original domain, to a carlike robot in the transformed domain. This enables one to use straight line trackers developed solely for this system, for the tracking of arbitrary strictly monotone polygonal curves. Finally, it is shown that the use of this mapping can also simplify the application of existing path tracking controllers since they only need to track straight line paths. In general, one can eliminate from the existing path controllers all parameters that are needed for nonstraight paths, thus obtaining respective simplified controllers. For example, it is shown that a fuzzy path controller with 135 rules can be reduced to an equivalent fuzzy straight line tracking controller with 45 rules.
Hybrid Control of a Truck and Trailer Vehicle
 Hybrid Systems: Computation and Control, volume 2289 of Lecture Notes in Computer Science
, 2002
"... A hybrid control scheme is proposed for the stabilization of backward driving along simple paths for a miniature vehicle composed of a truck and a twoaxle trailer. When reversing, the truck and trailer can be modelled as an unstable nonlinear system with state and input saturations. ..."
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A hybrid control scheme is proposed for the stabilization of backward driving along simple paths for a miniature vehicle composed of a truck and a twoaxle trailer. When reversing, the truck and trailer can be modelled as an unstable nonlinear system with state and input saturations.
DistanceWeighted Kalman Fusion for Precise Docking Problems
"... Abstract — This paper proposes a way to solve a highly precise docking problem for a flexible delivery in production environments. The docking problem is seen as one of the fundamental problems to enable more flexible automation using mobile robots. A nonholonomic differentialdriven robot with two ..."
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Abstract — This paper proposes a way to solve a highly precise docking problem for a flexible delivery in production environments. The docking problem is seen as one of the fundamental problems to enable more flexible automation using mobile robots. A nonholonomic differentialdriven robot with two conveyor belts is used to deliver boxes with goods to two docking slots on an assembly belt and unload them precisely. In order to localize the robot in front of the docking slots, a safety LIDAR and two “minimal invasive ” reflecting markers are used that are completely light invariant, thus reaching industrial robustness. This measurement is fused with odometry using a Kalman filter and a distance weighted way to compute the reliability of the data streams. I.