Posture regulation for unicycle-like robots with prescribed performance guarantees
2015 (English)In: IET Control Theory & Applications, ISSN 1751-8644, Vol. 9, no 2, 192-202 p.Article in journal (Refereed) Published
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.
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
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-161135DOI: 10.1049/iet-cta.2013.1112ISI: 000348523200005ScopusID: 2-s2.0-84921820537OAI: oai:DiVA.org:kth-161135DiVA: diva2:796730
QC 201503202015-03-202015-03-092015-03-20Bibliographically approved