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A robust smooth controller for a unicycle-like robot

Pazderski D.

Archives of Control Sciences

2018

Vol. 28, No. 1

155-183

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.

Control of a planar robot in the flight phase using transverse function approach

Pazderski D., Kozłowski K.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2015

Vol. 63, nr 3

759--770

This paper deals with stabilization and tracking control problems defined with respect to a planar mechanical structure similar to Raibert’s robot. The proposed control solution is based on formal analysis of the control system on a Lie group. In order to take advantage of Lie group theory a dynamic extension of the robot kinematics is introduced. To cope with non-zero angular momentum the controller based on transverse functions is employed. Properties of the closed-loop control system are investigated based on simulations including practical stabilization at neighborhood of a constant point or a reference trajectory.

Control of a unicycle-like robot with trailers using transverse function approach

Pazderski D., Kozłowski K., Waśkowicz D.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2012

Vol. 60, nr 3

557-579

The paper presents the application of a smooth kinematic algorithm to control multi-body vehicle which consists of the unicyclelike tractor with three trailers. The controller takes advantage of the transverse functions and properties of the IV-order two input chained system. The derivation of the algorithm is presented in details. In order to improve the performance of the controller in the real application a selected tuning techniques are discussed. The properties of the closed-loop control system are examined based on results of numerical simulations concerning the point stabilization and trajectory tracking tasks.