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Conference Papers Year : 2023

Trajectory Tracking in Unicycle Mobile Robots: A Homogeneity-based Control Approach

Abstract

This paper contributes to the design of a family of homogeneous controllers to deal with the trajectory tracking problem in unicycle mobile robots (UMRs). The control strategy is based on a cascade control paradigm, which includes the position and orientation tracking error subsystems. The proposed homogeneous controllers provide different types of convergence to zero for the tracking error dynamics, i.e., asymptotic, exponential and finite-time convergence. Simulation results illustrate the performance of the proposed family of homogeneous controllers.
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Dates and versions

hal-04059857 , version 1 (05-04-2023)

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  • HAL Id : hal-04059857 , version 1

Cite

Y Zhou, H Ríos, M Mera, A Polyakov, G Zheng, et al.. Trajectory Tracking in Unicycle Mobile Robots: A Homogeneity-based Control Approach. IFAC 2023 - 22nd World Congress of the International Federation of Automatic Control, Jul 2023, Yokohama, Japan. ⟨hal-04059857⟩
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