Posture regulation for unicycle-like robots with prescribed performance guarantees
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 p...
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| Published in | IET control theory & applications Vol. 9; no. 2; pp. 192 - 202 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
The Institution of Engineering and Technology
19.01.2015
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1751-8644 1751-8652 1751-8652 |
| DOI | 10.1049/iet-cta.2013.1112 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Zambelli, Martina Dimarogonas, Dimos V Karayiannidis, Yiannis |
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| BackLink | https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-161135$$DView record from Swedish Publication Index https://research.chalmers.se/publication/231024$$DView record from Swedish Publication Index |
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| Cites_doi | 10.1109/37.476384 10.1109/TCST.2002.804116 10.1109/9.173144 10.1109/TAC.2008.929402 10.1109/CCA.2009.5281169 10.1007/BF01211563 10.1016/j.robot.2011.06.005 10.1142/9789814354301_0005 10.1007/978-1-4471-0449-0 10.1109/ROBOT.2010.5509676 10.1016/j.robot.2011.10.007 10.1109/9.580865 10.1016/0167-6911(95)00041-0 10.1109/TIE.2013.2287222 10.1109/TRO.2009.2014494 10.1109/9.362899 10.1109/9.173153 10.1007/978-3-7091-4362-9_7 |
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| Keywords | 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 |
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| SubjectTerms | 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 |
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| Title | Posture regulation for unicycle-like robots with prescribed performance guarantees |
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