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International Hybrid Systems Workshop

HS 1994: Hybrid Systems II pp 391–404Cite as

Hybrid control of a robot — a case study

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Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 999))

Abstract

An experiment with a distributed architecture to support a hybrid controller for a robot is described. For a desired trajectory, the controller plans a schedule for switching between a fixed set of control functions. Initial results indicate that the proposed architecture is better at achieving a desired trajectory than conventional control algorithms. The experiment also illustrates a division of concerns between software engineering and control engineering. Development of controlling realtime state machines and their mapping to processors and network is the task of software engineering, while the control engineer must identify plant phases, switching conditions and relevant control laws. These define algorithms for a planner and for the control functions. The format of schedules produced by the planner and the algorithms constitute the interface to software developers.

Supported by the Danish Technical Research Council under the Co-design and IMCIA projects. This paper was written while Anders P. Ravn was visiting professor at Institut für Informatik und Praktische Mathematik, Christian-Albrechts-Universität zu Kiel, Germany, supproted by the German Research Council.

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Authors and Affiliations

  1. Department of Computer Science, bldg. 344, Denmark

    Anders P. Ravn, Hans Rischel, Michael Holdgaard & Thomas J. Eriksen

  2. Institute of Control Engineering, Technical University of Denmark, bldg. 424, DK 2800, Lyngby, Denmark

    Finn Conrad & Torben O. Andersen

Authors
  1. Anders P. Ravn
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  2. Hans Rischel
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  3. Michael Holdgaard
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  4. Thomas J. Eriksen
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  5. Finn Conrad
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  6. Torben O. Andersen
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Editor information

Panos Antsaklis Wolf Kohn Anil Nerode Shankar Sastry

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© 1995 Springer-Verlag Berlin Heidelberg

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Ravn, A.P., Rischel, H., Holdgaard, M., Eriksen, T.J., Conrad, F., Andersen, T.O. (1995). Hybrid control of a robot — a case study. In: Antsaklis, P., Kohn, W., Nerode, A., Sastry, S. (eds) Hybrid Systems II. HS 1994. Lecture Notes in Computer Science, vol 999. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-60472-3_20

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  • DOI: https://doi.org/10.1007/3-540-60472-3_20

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-60472-3

  • Online ISBN: 978-3-540-47519-4

  • eBook Packages: Springer Book Archive

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