A robust smooth controller for a unicycle-like robot

• Autorzy: Pazderski D.

Identyfikatory

DOI

10.24425/119082

• Języki publikacji: EN

Abstrakty

EN

In this paper, a stabilizer dedicated for a unicycle-like robot is considered. The proposed smooth control law ensures the global boundedness of position and orientation trajectories to a neighbourhood of the desired point with an arbitrarily selected radius and it is robust to bounded additive measurement noises. The controller consists of a smooth hybrid navigation algorithm and a smooth feedback based on the transverse function approach. The stability proof, simulation and experimental results illustrating properties of the algorithm are discussed.

Słowa kluczowe

EN

transverse functions; nonholonomic system; control motion task; Lie group; navigation vector fields; smooth feedbacks

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2018
• Tom: Vol. 28, No. 1
• Strony: 155--183
• Opis fizyczny: Bibliogr. 27 poz., rys., wykr., wzory

Twórcy

autor

Pazderski D.

• Poznań University of Technology, Institute of Automation and Robotics, ul. Piotrowo 3a 60-965 Poznań, Poland

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).