Modified Integral Control Globally Counters Symmetry-Breaking Biases
We propose a modified integral controller to treat actuation biases in nonholonomic systems. In such systems, although one cannot directly counter biases along all directions, one can still aim at restoring the symmetry of coordinated motion that the biases would break. Focusing on the example of st...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-05-01
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| Series: | Symmetry |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2073-8994/11/5/639 |