Sampled-Data Steering of Unicycles via PBC

Authors

Mattia Mattioni, Alessio Moreschini, Salvatore Monaco, Dorothee Normand-Cyrot

Abstract

In this letter, 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.

Citation

• Journal: IEEE Control Systems Letters
• Year: 2023
• Volume: 7
• Issue:
• Pages: 757–762
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/lcsys.2022.3225785

BibTeX

@article{Mattioni_2023,
  title={{Sampled-Data Steering of Unicycles via PBC}},
  volume={7},
  ISSN={2475-1456},
  DOI={10.1109/lcsys.2022.3225785},
  journal={IEEE Control Systems Letters},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Mattioni, Mattia and Moreschini, Alessio and Monaco, Salvatore and Normand-Cyrot, Dorothee},
  year={2023},
  pages={757--762}
}

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