Lyapunov self-triggered controller for nonlinear trajectory tracking of unicycle-type robot
Identifiers
Permanent link (URI): http://hdl.handle.net/10017/59837DOI: 10.1007/s12555-018-0576-x
ISSN: 2005-4092
Publisher
Springer
Date
2020-02-04Bibliographic citation
Santos, C., Espinosa, F., Santiso, E. et al. Lyapunov Self-triggered Controller for Nonlinear Trajectory Tracking of Unicycle-type Robot. Int. J. Control Autom. Syst. 18, 1829–1838 (2020).
Keywords
Lyapunov-based controller
Nonlinear trajectory-tracking
Self-triggered
Semiglobal practical stability
Document type
info:eu-repo/semantics/article
Version
info:eu-repo/semantics/publishedVersion
Publisher's version
https://doi.org/10.1007/s12555-018-0576-xRights
Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
© 2020 ICROS, KIEE and Springer
Access rights
info:eu-repo/semantics/openAccess
Abstract
This paper focuses on the design and implementation of an aperiodic control of nonholonomic robots tracking nonlinear trajectories. The main objective of our controller is to reduce the number of updates while preserving control performance guarantees. To solve the problem in a more efficient way, we design two aperiodic control solutions, one to reach a target point and a second to track a predefined nonlinear trajectory. Unlike most previous work, our triggering condition only updates the controller when the time derivative of the Lyapunov function becomes nonnegative, without taking into account the measurement error. Multiple simulated results with different initial conditions are included, showing how our control solution significantly reduces the need for communication in comparison with periodic and other aperiodic strategies while preserving a desired tracking performance. To validate the proposal experimental tests of each control technique with a P3-DX robot remotely controlled through an IEEE 802.11g wireless network are also carried out.
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