In this paper, on the basis of a recently proposed discrete-time port-Hamiltonian representation of sampled-data dynamics, we propose a new time-varying digital feedback for steering mobile robots. The quality of the proposed passivity-based control is validated and compared through simulations with the existing literature and the continuous-time implementation using the unicycle as a case study.
Sampled-data steering of unicycles via PBC / Mattioni, M.; Moreschini, A.; Monaco, S.; Normand-Cyrot, D.. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 7:(2022), pp. 757-762. [10.1109/LCSYS.2022.3225785]
Sampled-data steering of unicycles via PBC
Mattioni M.
;Moreschini A.;Monaco S.;
2022
Abstract
In this paper, on the basis of a recently proposed discrete-time port-Hamiltonian representation of sampled-data dynamics, we propose a new time-varying digital feedback for steering mobile robots. The quality of the proposed passivity-based control is validated and compared through simulations with the existing literature and the continuous-time implementation using the unicycle as a case study.| File | Dimensione | Formato | |
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