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. ( 63rd IEEE Conference on Decision and Control, CDC 2024 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.| File | Dimensione | Formato | |
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Note: DOI 10.1109/CDC56724.2024.10886310
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