Homogeneity-Based Control Strategy for Trajectory Tracking in Perturbed Unicycle Mobile Robots
Résumé
This paper deals with the tracking problem for the Unicycle Mobile Robot (UMR) with slippage effects. A homogeneous controller 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 homogeneous controller 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.
Domaines
Automatique| Origine | Fichiers produits par l'(les) auteur(s) |
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