학술논문
Sampled-Data Steering of Unicycles via PBC
Document Type
Periodical
Source
IEEE Control Systems Letters IEEE Control Syst. Lett. Control Systems Letters, IEEE. 7:757-762 2023
Subject
Language
ISSN
2475-1456
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.