Equilibrium-Driven Smooth Separation and Navigation of Marsupial Robotic Systems
Year: 2025
Type: article
Abstract: In this paper, we propose an equilibrium-driven controller that enables a marsupial carrier-passenger robotic system to achieve smooth carrier-passenger separation and then to navigate the passenger robot toward a predetermined target point. Particularly, we design a potential gradient in the form of a cubic polynomial for the passenger’s controller as a function of the carrier-passenger and carrier-target distances in the moving carrier’s frame. This introduces multiple equilibrium points corresponding to the zero state of the error dynamic system during carrier-passenger separation. The change of equilibrium points is associated with the change in their attraction regions, enabling smooth carrier–passenger separation and afterwards seamless navigation toward the target. Finally, simulations demonstrate the effectiveness and adaptability of the proposed controller in environments containing obstacles.
Source: IEEE Control Systems Letters
Authors: Bin-Bin Hu, Bayu Jayawardhana, Ming Cao
Institution: University of Groningen
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4411203200