Hybrid system for event-based planning and control of robot operation

Abstract

The hybrid systems contain two distinct types of components, subsystem with continuous dynamics and subsystem with discrete dynamics that interact with each other. Such hybrid systems arise in varied contexts in manufacturing, communication networks, auto-pilot design, and traffic control and in robotics and mechatronics, among others. Hybrid systems have a central role in embedded control systems that interact with the physical world. They also arise from the hierarchical organization of complex systems and from the interaction of discrete planning algorithms and continuous control algorithms in autonomous, intelligent systems. The experimental results demonstrate the efficiency of the hybrid approach for the bilateral control of a 1-DOF master-slave teleoperation.