Article Dans Une Revue Automatica Année : 2026

Orchestrating on-board sensors for global hybrid robust stabilization of unicycles

Résumé

We consider mobile robots described through unicycle dynamics equipped with on-board range sensors and cameras, one facing forward and one facing backward, providing measurements of the distance and misalignment to a target. We propose a hybrid control law combining the two on-board measurements and discuss stability results for the closed-loop expressed in the on-board camerabased coordinates, using Lyapunov-based arguments. We prove robustness of the stability properties to uncertainties affecting the sensors and external perturbations acting on the robot. The results are illustrated via simulations.

Fichier principal
Vignette du fichier
Unicycle_stabilization.pdf (982.11 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Licence

Dates et versions

hal-05004452 , version 1 (25-03-2025)

Licence

Identifiants

Citer

Riccardo Ballaben, Alessandro Astolfi, Philipp Braun, Luca Zaccarian. Orchestrating on-board sensors for global hybrid robust stabilization of unicycles. Automatica, 2026, 183, pp.112502. ⟨10.1016/j.automatica.2025.112502⟩. ⟨hal-05004452⟩
580 Consultations
498 Téléchargements

Altmetric

Partager

  • More