Work

Trajectory tracking of unicycles under sampling and discrete-time Passivity-Based Control

Year: 2024

Type: conference-paper

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.

Source: Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes

DOI: 10.1109/cdc56724.2024.10886310

Authors: M. Mattioni, S. Monaco, D. Normand-Cyrot

Institutions: Sapienza University of Rome, Centre National de la Recherche Scientifique, Université Paris-Saclay, Laboratoire des signaux et systèmes, CentraleSupélec

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4404681959

FWCI:

Cites: 12

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Related to: 10