Estabilización orbital de un robot móvil con ruedas tipo uniciclo: síntesis y validación experimental

In this work, a Lyapunov-based synthesis and control design to induce periodic motion in a unicycle-type wheeled mobile robot (wmr) is under study. The solution of a second-order dynamical system is used as desired trajectory to achieve orbital stabilization. The selected dynamical reference system exhibits a limit cycle behavior which allows to move from one orbit to another by simply changing the parameters regarding radius of the orbit and direction of rotation. From this analysis, a kinematic tracking controller is designed for which closed-loop dynamics and stability analysis are provided to demonstrate control problem resolution based on error dynamics. Performance and robustness issues for the proposed framework are illustrated by experimental results using a real-time vision control system. 41 Research in Computing Science 105 (2015) pp. 41–51; rec. 2015-08-29; acc. 2015-10-12