Sampled-data steering of unicycles via PBC - Archive ouverte HAL
Article Dans Une Revue IEEE Control Systems Letters Année : 2023

Sampled-data steering of unicycles via PBC

Résumé

In this paper, on the basis of a recently proposed discrete-time port-Hamiltonian representation of sampled-data dynamics, we propose a new time-varying digital feedback for steering mobile robots. The quality of the proposed passivity-based control is validated and compared through simulations with the existing literature and the continuous-time implementation using the unicycle as a case study.
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Dates et versions

hal-04227944 , version 1 (04-10-2023)

Identifiants

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Mattia Mattioni, Alessio Moreschini, Salvatore Monaco, Dorothee Normand-Cyrot. Sampled-data steering of unicycles via PBC. IEEE Control Systems Letters, 2023, 7, pp.757-762. ⟨10.1109/LCSYS.2022.3225785⟩. ⟨hal-04227944⟩
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