A robust smooth controller for a unicycle-like robot

MaRDI QIDQ5219588zbMATH OpenFDO

Authors Dariusz Pazderski

Publication date 12 March 2020

zbMATH Keywords

control motion taskLie groupnavigation vector fieldsnonholonomic systemsmooth feedbackstransverse functions

Mathematics Subject Classification ID

Nonholonomic systems related to the dynamics of a system of particles (70F25) Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(5)

• Dynamics analysis and robust control for electric unicycles under constrained control force
• Control of unicycle-type robots in the presence of sliding effects with only absolute longitudinal and yaw velocities measurements
• Posture stabilization of a unicycle mobile robot -- two control approaches
• Control of a set of unicycle-like robots using an approximate linearisation
• Caster car -- underactuated ground vehicle with caster wheels

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