- Tytuł:
- A robust smooth controller for a unicycle-like robot
- Autorzy:
- Pazderski, D.
- Powiązania:
- https://bibliotekanauki.pl/articles/229667.pdf
- Data publikacji:
- 2018
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
transverse functions
nonholonomic system
control motion task
Lie group
navigation vector fields
smooth feedbacks - Opis:
- 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.
- Źródło:
-
Archives of Control Sciences; 2018, 28, 1; 155-183
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł