Sequential composition for control of underactuated systems

Abstract: "We present a new approach to developing hybrid feedback policies for the control of systems with nonholonomic constraints. We extend the idea of sequential composition and use it to switch between controllers in a state based manner, resulting in a globally convergent, pure feedback policy. Individual controllers in the palette are inspired by variable constraint control. We solve a vision guided unicycle navigation problem and verify the result through simulation and experiment. This technical report presents a detailed description of results published in [10]."