Port-Hamiltonian Control of a Differential Robot

Authors

Evert Josue Guajardo Benavides, Efrain Alcorta Garcia, Maria Aracelia Alcorta Garcia

Abstract

A novel approach to tracking control of a differential robot is proposed. Based on a Port-Hamiltonian representation of a differential robot, canonical transformations are used to obtain a controller that guarantees the tracking of a reference. The control law is inspired by a well-known controller taken from the literature and the Port-Hamiltonian version of the control law is derived. The performance of the algorithm as well as some of the robustness properties are tested using simulations under different scenarios.

Citation

• ISBN: 9783030900328
• Publisher: Springer International Publishing
• DOI: 10.1007/978-3-030-90033-5_3
• Note: Proceedings of the Latin American Congress on Automation and Robotics

BibTeX

@inbook{Benavides_2021,
  title={{Port-Hamiltonian Control of a Differential Robot}},
  ISBN={9783030900335},
  ISSN={2367-3389},
  DOI={10.1007/978-3-030-90033-5_3},
  booktitle={{Advances in Automation and Robotics Research}},
  publisher={Springer International Publishing},
  author={Benavides, Evert Josue Guajardo and Garcia, Efrain Alcorta and Garcia, Maria Aracelia Alcorta},
  year={2021},
  pages={18--25}
}

Download the bib file

References

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