The paper provides a new sampled-data and single-rate control law for trajectory tracking of unicycles under sampling. Assuming the reference generated by a continuoustime input sequence that is persistently exciting the design consists of two phases: first a new discrete-time generator is proposed; then, asymptotic tracking is achieved via a discretetime IDA-PBC strategy. Simulations illustrate the result of enhancing the efficiency of the proposed control law.
Trajectory tracking of unicycles under sampling and discrete-time Passivity-Based Control / Mattioni, M.; Monaco, S.; Normand-Cyrot, D.. - (2024), pp. 2213-2218. (Intervento presentato al convegno 63rd IEEE Conference on Decision and Control, CDC 2024 tenutosi a Allianz MiCo Milano Convention Centre, ita) [10.1109/CDC56724.2024.10886310].
Trajectory tracking of unicycles under sampling and discrete-time Passivity-Based Control
Mattioni M.;Monaco S.;
2024
Abstract
The paper provides a new sampled-data and single-rate control law for trajectory tracking of unicycles under sampling. Assuming the reference generated by a continuoustime input sequence that is persistently exciting the design consists of two phases: first a new discrete-time generator is proposed; then, asymptotic tracking is achieved via a discretetime IDA-PBC strategy. Simulations illustrate the result of enhancing the efficiency of the proposed control law.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
