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
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Titolo: | Multi-level stabilizing control of a nonholonomic vehicle and its discrete-time multirate implementation | |
Autori: | Palopoli, Luigi; F., Conticelli; B., Allotta | |
Autori Unitn: | ||
Titolo del volume contenente il saggio: | Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on | |
Luogo di edizione: | San Francisco, USA | |
Casa editrice: | IEEE | |
Anno di pubblicazione: | 2000 | |
Codice identificativo Scopus: | 2-s2.0-0033692333 | |
Handle: | http://hdl.handle.net/11572/92389 | |
Appare nelle tipologie: | 04.1 Saggio in atti di convegno (Paper in Proceedings) |