Predefined-time VFO control design for unicycle-like mobile robots
[ 1 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ SzD ] doktorant ze Szkoły Doktorskiej | [ P ] pracownik
[2.2] Automatyka, elektronika, elektrotechnika i technologie kosmiczne
2024
artykuł naukowy
angielski
- Mobile robots
- Unicycle kinematic
- Feedback control
- Vector Field Orientation
- Time constraints
- Predefined-time stability
EN The paper presents a predefined-time Vector-Field-Orientation (VFO) control law for unicycle-like nonholonomic mobile robots. We consider a set-point control problem in the presence of strict time constraints, which has to guarantee satisfaction of a prescribed upper bound of the settling time for the configuration errors. The control law is based on the VFO methodology, which is characterized by non-oscillatory and well-predictable time evolution of transient states for unicycle-like robots. A formal stability analysis based on the Lyapunov theory is provided for the closed-loop dynamics. Then, the results of extensive numerical simulations as well as experimental tests illustrate the resultant control performance where time constraints are considered. The proposed approach is compared with an alternative predefined-time stabilizer, recently introduced for nonholonomic chained-form systems.
16.01.2024
3591 - 3603
CC BY (uznanie autorstwa)
otwarte czasopismo
ostateczna wersja opublikowana
w momencie opublikowania
140
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