Fixed-time VFO control for a unicycle

• Autorzy: Michałek Maciej M. , Sobański Rafał M. , Defoort Michael
• Języki publikacji: EN

Abstrakty

EN

A conventional application of the Vector-Field-Orientation (VFO) control design method to the set-point control problem leads to controllers with an infinite-time convergence of the stabilization errors. In this paper we try to extend a family of VFO control laws, applicable to unicycle kinematics, with a version which makes the stabilization errors finite-time convergent to zero where, additionally, a settling time is upper bounded by a constant which does not depend on an initial unicycle configuration. This kind of the control problem is called the fixed-time stabilization. Under assumption that the control inputs of the unicycle are unrestricted to any closed subset of R2, we show how to modify the finite-time VFO controller to obtain a bounded fixed-time control law. A control performance obtained with the proposed fixed-time VFO controller has been illustrated by simulation results.

Słowa kluczowe

EN

mobile robots; unicycle

PL

roboty mobilne; monocykl

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Prace Naukowe Politechniki Warszawskiej. Elektronika
• Rocznik: 2022
• Tom: z. 197, t. 1
• Strony: 191--200
• Opis fizyczny: Bibliogr. 12 poz., wykr.

Twórcy

autor

Michałek Maciej M.

• Institute of Automatic control and Robotics, Poznan University of Technology (PUT), Poznań, Poland

autor

Sobański Rafał M.

• Institute of Automatic control and Robotics, Poznan University of Technology (PUT), Poznań, Poland

autor

Defoort Michael

• Universite Polytechnique Hauts de France (UPHF), Valenciennes, France

Bibliografia

• 1. C.C. de Wit, B. Siciliano, G. Bastin. Theory of Robot Control. New York, Springer-Verlag 1996.
• 2. M. Defoort et al. Fixed-time stabilisation and consensus of non-holonomic systems. IET Control Theory & Applications, 2016, Vol. 10, No. 18, pp. 2497-2505.
• 3. M. Galicki. Finite-time control of omnidirectional mobile robots. In: Nonlinear Dynamic and Control Red. W. Lacarbonara et al. Vol. II Springer, Cham 2020.
• 4. E. Jimenez-Rodriguez at al. A Lyapunov-like characterization of predefined-time stability. IEEE Trans. Autom. Cont., 2020, Vol. 65, No. 11, pp. 4922-4927.
• 5. D. Li, S.S. Ge, T.H. Lee. Fixed-time-synchronized consensus control of multiagent systems. IEEE Trans. Cont. Network Syst., 2021, Vol. 8, No. 1, pp. 89-98.
• 6. M. Michałek, K. Kozłowski. Finite-time VFO stabilizers for the unicycle with constrained control input. In: Robot Motion and Control 2009 Red. K. Kozłowski, Vol. 396 series LNCIS, pp. 23-34. Springer-Verlag 2009.
• 7. M. Michałek, K. Kozłowski. Finite-time and asymptotic stabilization of car-like kinematics with amplitude-limited control input. IFAC Proceedings Volumes, 2011, vol. 44, No. 1, pp. 3497-3502.
• 8. P. Morin, C. Samson. Motion control of wheeled mobile robots. In: Springer Handbook of Robotics Red. B. Siciliano, O. Khatib, pp. 799-826. Springer 2008.
• 9. E. Moulay, w. Perruquetti. Finite-time stability and stabilization: state of the art. In: Advances in Variable Structure Red. C. E. et al., Vol. 334 series LNCIS, pp. 23-41. Springer-Verlag 2006.
• 10. S. Parsegov, A. Polyakov, P. Shcherbakov. Nonlinear fixed-time control protocol for uniform allocation of agents on a segment. In: 51 st IEEE conf. Decision and Control. Proceedings, Maui, Hawaii, USA, 2012, pp. 7732-7737.
• 11. A. Polyakov. Nonlinear feedback design for fixed-time stabilization of linear control systems. IEEE Trans. Autom. Cont., 2012, Vol. 57, No. 8, pp. 2106-2110
• 12. Z. Zuo et al. Fixed-time consensus tracking for multiagent systems with high-order integrator dynamics. IEEE Trans. Autom. Cont., 2018, vol. 63, No. 2, pp.563-570.

Uwagi

PL

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).