Open AccessPosture regulation for unicycle‐like robots with prescribed performance guarantees
Author(s) -
Zambelli Martina,
Karayiannidis Yiannis,
Dimarogonas Dimos V.
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2013.1112
Subject(s) - control theory (sociology) , robot , computer science , control engineering , artificial intelligence , control (management) , engineering
This study aims to address the regulation problem for the unicycle model while guaranteeing prescribed performance. Different controllers based either on polar coordinates or time‐varying laws are proposed. The main contribution is the combination of the standard control laws that allow to achieve posture regulation for the unicycle, with the prescribed performance control technique that imposes time‐varying constraints to the system coordinates. To apply prescribed performance to the unicycle system which is subject to a non‐holonomic constraint, the authors design a specific transformation function that is instrumental in the proof of asymptotic convergence with prescribed guaranties.