Homogeneity-Based Control Strategy for Trajectory Tracking in Perturbed Unicycle Mobile Robots
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY(2024)
摘要
This brief deals with the tracking problem for the unicycle mobile robot (UMR) with slippage effects. A homogeneous controller (HC) is developed based on a particular cascade control strategy. The robustness of the closed-loop system is studied. The design is essentially based on the canonical homogeneous norm being a Lyapunov function of the system. The (finite-time or exponential) convergence rate of the HC can be tuned by a proper selection of the so-called homogeneity degree. Some experimental results illustrate the performance of the proposed homogeneous control in the UMR QBot2 by Quanser.
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关键词
Trajectory tracking,Kinematics,Finite-time,homogeneity,trajectory tracking,unicycle mobile robots (UMRs)
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