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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