This paper focuses on the problem of controlling the relative position between a moving target and an autonomous nonholonomic vehicle. This problem represents a meaningful case study belonging to the class of multirate nonlinear control systems. A multi-level stabilizing control system is synthesized in continuous-time, based on a detailed analytic model of the vehicle, including the robot kinematics and nonholonomic dynamics, and actuators transfer functions. The discrete-time implementation provides a multirate nonlinear digital controller. Simulations in both continuous and discrete-time domain highlights interesting performance variations effects arising from different choices of the sampling frequencies

Multi-level stabilizing control of a nonholonomic vehicle and its discrete-time multirate implementation

Palopoli, Luigi;
2000-01-01

Abstract

This paper focuses on the problem of controlling the relative position between a moving target and an autonomous nonholonomic vehicle. This problem represents a meaningful case study belonging to the class of multirate nonlinear control systems. A multi-level stabilizing control system is synthesized in continuous-time, based on a detailed analytic model of the vehicle, including the robot kinematics and nonholonomic dynamics, and actuators transfer functions. The discrete-time implementation provides a multirate nonlinear digital controller. Simulations in both continuous and discrete-time domain highlights interesting performance variations effects arising from different choices of the sampling frequencies
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
San Francisco, USA
IEEE
Palopoli, Luigi; F., Conticelli; B., Allotta
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/92389
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