Sampled-Data Steering of Unicycles via PBC
نویسندگان
چکیده
In this letter, on the basis of a recently proposed discrete-time port-Hamiltonian representation sampled-data dynamics, we propose new time-varying digital feedback for steering mobile robots. The quality passivity-based control is validated and compared through simulations with existing literature continuous-time implementation using unicycle as case study.
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ژورنال
عنوان ژورنال: IEEE Control Systems Letters
سال: 2023
ISSN: ['2475-1456']
DOI: https://doi.org/10.1109/lcsys.2022.3225785