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Trajectory Tracking in Unicycle Mobile ...
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Document type :
Communication dans un congrès avec actes
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] refId
Deformable Robots Simulation Team [DEFROST]
Dzul, A [Auteur]
Instituto Tecnologico de la Laguna [ITL]
Conference title :
IFAC 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
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 ...
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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
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