Posture regulation for unicycle-like robots with prescribed performance guarantees

• Published in: IET control theory & applications Vol. 9; no. 2; pp. 192 - 202
• Main Authors: Zambelli, Martina, Karayiannidis, Yiannis, Dimarogonas, Dimos V
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 19.01.2015
• Subjects: asymptotic convergence; Asymptotic properties; asymptotic stability; Control; Control systems; Convergence; Laws; Mathematical models; mobile robots; nonholonomic constraint; polar coordinates; posture regulation; prescribed performance guarantees; Robots; time-varying constraints; time-varying laws; time-varying systems; Transformations (mathematics); unicycle like robots; unicycle model; time-varying systems; polar coordinates; time-varying constraints; unicycle like robots; asymptotic convergence; unicycle model; time-varying laws; prescribed performance guarantees; nonholonomic constraint; mobile robots; asymptotic stability; posture regulation
• ISSN: 1751-8644; 1751-8652; 1751-8652
• DOI: 10.1049/iet-cta.2013.1112

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.