Work

On Hyperexponential Stabilization of Perturbed Unicycle Dynamics

Year: 2025

Type: article

Abstract: ABSTRACT The problem of hyperexponential stabilization for a mobile robot is addressed by leveraging its kinematic model with external perturbations. To this end, a robust nonlinear control law is designed, and several state and time transformations are introduced, reformulating the system model to an interconnection of integrators. A novel fixed‐time stabilization strategy is developed for an uncertain double‐integrator system. The whole closed‐loop system's convergence rate is rigorously analyzed, demonstrating hyperexponential behavior. The obtained results are compared with existing analogues in numeric experiments.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.70213

Authors: Moussa Labbadi, Denis Efimov

Institutions: Centre National de la Recherche Scientifique, Aix-Marseille Université, Laboratoire d’Informatique et Systèmes, Institut national de recherche en sciences et technologies du numérique, Université de Lille, Centre de Recherche en Informatique, Signal et Automatique de Lille

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $4,270

OpenAlex ID: W4414619824

FWCI: 0.385

Cites: 39

Cited by: 1

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