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Posture regulation for unicycle-like robots with prescribed performance guarantees
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-5129-342X
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2015 (English)In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 9, no 2, 192-202 p.Article in journal (Refereed) Published
Abstract [en]

This study aims to address the regulation problem for the unicycle model while guaranteeing prescribed performance. Different controllers based either on polar coordinates or time-varying laws are proposed. The main contribution is the combination of the standard control laws that allow to achieve posture regulation for the unicycle, with the prescribed performance control technique that imposes time-varying constraints to the system coordinates. To apply prescribed performance to the unicycle system which is subject to a non-holonomic constraint, the authors design a specific transformation function that is instrumental in the proof of asymptotic convergence with prescribed guaranties.

Place, publisher, year, edition, pages
2015. Vol. 9, no 2, 192-202 p.
Keyword [en]
time-varying systems, asymptotic stability, mobile robots, posture regulation, unicycle like robots, prescribed performance guarantees, unicycle model, polar coordinates, time-varying laws, time-varying constraints, nonholonomic constraint, asymptotic convergence
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-161135DOI: 10.1049/iet-cta.2013.1112ISI: 000348523200005Scopus ID: 2-s2.0-84921820537OAI: oai:DiVA.org:kth-161135DiVA: diva2:796730
Note

QC 20150320

Available from: 2015-03-20 Created: 2015-03-09 Last updated: 2017-12-04Bibliographically approved

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Karayiannidis, YiannisDimarogonas, Dimos V.

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Zambelli, MartinaKarayiannidis, YiannisDimarogonas, Dimos V.
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IET Control Theory & Applications
Electrical Engineering, Electronic Engineering, Information Engineering

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