Title :

Trajectory Tracking in Unicycle Mobile Robots: A Homogeneity-based Control Approach

Author(s) :

Zhou, Y [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
Ríos, H [Auteur]
Instituto Tecnologico de la Laguna [ITL]
Mera, M [Auteur]
Instituto Politechnico National [IPN]
Polyakov, A [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
Zheng, Gang [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Dzul, A [Auteur]
Instituto Tecnologico de la Laguna [ITL]

Conference title :

IFCAC 2023 - 22nd World Congress of the International Federation of Automatic Control

City :

Yokohama

Country :

Japon

Start date of the conference :

2023-07-09

English keyword(s) :

Unicycle Mobile Robots Trajectory Tracking Homogeneity Finite-Time
Unicycle Mobile Robots
Trajectory Tracking
Homogeneity
Finite-Time

HAL domain(s) :

Informatique [cs]/Automatique

English abstract : [en]

This paper contributes to the design of a family of homogeneous controllers to deal with the trajectory tracking problem in unicycle mobile robots (UMRs). The control strategy is based on a cascade control paradigm, which ...
Show more >This paper contributes to the design of a family of homogeneous controllers to deal with the trajectory tracking problem in unicycle mobile robots (UMRs). The control strategy is based on a cascade control paradigm, which includes the position and orientation tracking error subsystems. The proposed homogeneous controllers provide different types of convergence to zero for the tracking error dynamics, i.e., asymptotic, exponential and finite-time convergence. Simulation results illustrate the performance of the proposed family of homogeneous controllers.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL