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
AutomatiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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