Communication Dans Un Congrès Année : 2024

Global event-triggered regulation of unicycle dynamics by bounded control

Résumé

The problem of stabilization of the position of a mobile robot using its cinematic (unicycle type) model is considered. The suggested control is discontinuous and bounded; moreover, it guarantees a global solution to the posed problem. The properties of the proposed control law are analyzed by applying the Lyapunov function method. An event-triggering realization of the control algorithm is presented, and its performance and tuning are evaluated through simulations.

Domaines

Automatique
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Dates et versions

hal-04895368 , version 1 (18-01-2025)

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  • HAL Id : hal-04895368 , version 1

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Denis Efimov, Mata Khalili, Shiyu Liu. Global event-triggered regulation of unicycle dynamics by bounded control. Proc. IEEE CDC, Dec 2024, Milan, Italy. ⟨hal-04895368⟩
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