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.
| Origine | Fichiers produits par l'(les) auteur(s) |
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