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  • 1.
    Altafini, Claudio
    KTH, Tidigare Institutioner, Matematik.
    Redundant robotic chains on Riemannian submersions2004Inngår i: IEEE transactions on robotics and automation, ISSN 1042-296X, Vol. 20, nr 2, s. 335-340Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The main scope of this paper is to introduce the notion of Riemannian submersion for the modeling and control of certain types of redundant robotic chains. in the robotics literature, the redundant case is normally treated only in numerical terms, as the need to resort to pseudoinversion techniques is usually considered a barrier to the use of analytic or geometric methods. Using Riemannian submersions, however, we can single out a particular type of inverse, the horizontal lift, with distinguished properties with respect to the infinitely many possible others. Quite remarkably, for a wide class of robotic chains, characterized by the vanishing of the curvature tensor, such horizontal lift coincides with the curve obtained from the Moore-Penrose pseudoinverse of the Jacobian.

  • 2.
    Altafini, Claudio
    et al.
    SISSA-ISAS International School for Advanced Studies.
    Speranzon, Alberto
    KTH, Tidigare Institutioner, Signaler, sensorer och system.
    Johansson, Karl Henrik
    KTH, Tidigare Institutioner, Signaler, sensorer och system.
    Hybrid control of a truck and trailer vehicle2002Inngår i: Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349, Vol. 2289, s. 21-34Artikkel i tidsskrift (Annet vitenskapelig)
    Abstract [en]

    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 two-axle trailer. When reversing, the truck and trailer can be modelled as an unstable nonlinear system with state and input saturations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques, since some initial states necessarily lead to that the so called jack-knife locks between the truck and the trailer. The proposed hybrid control method, which combines backward and forward motions, provide a global attractor to the desired reference trajectory. The scheme has been implemented and successfully evaluated on a radio-controlled vehicle. Results from experimental trials are reported.

  • 3.
    Altafini, Claudio
    et al.
    KTH, Tidigare Institutioner, Matematik.
    Speranzon, Alberto
    KTH, Tidigare Institutioner, Signaler, sensorer och system.
    Wahlberg, Bo
    KTH, Tidigare Institutioner, Signaler, sensorer och system.
    A feedback control scheme for reversing a truck and trailer vehicle2001Inngår i: IEEE transactions on robotics and automation, ISSN 1042-296X, Vol. 17, nr 6, s. 915-922Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    A control scheme is proposed for stabilization of backward driving along simple paths for a miniaturized vehicle composed of a truck and a two-axle trailer. The paths chosen are straight lines and arcs of circles. When reversing, the truck and trailer under examination can be modeled as an unstable nonlinear system with state and input saturations. The simplified goal of stabilizing along a trajectory (instead of a point) allows us to consider a system with controllable linearization. Still, the combination of instability and saturations makes the task impossible with a single controller. In fact, the system cannot be driven backward from all initial states because of the jack-knife effects between the parts of the multibody vehicle; it is sometimes necessary to drive forward to enter into a specific region of attraction. This leads to the use of hybrid controllers. The scheme has been implemented and successfully used to reverse the radio-controlled vehicle.

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