This thesis focuses on control of the unicycle. The major objective is to solve the regulation problem while guaranteeing prescribed performance. The main contribution is the combination of the standard control laws (designed with polar coordinates and time-varying laws), with the prescribed performance control technique. Two particular transformation to bind linear or angular coordinates are proposed. Simulations confirm the effectiveness of the proposed solutions
Posture regulation for unicycle-like robots with prescribed performance guarantees
Zambelli, Martina
2013/2014
Abstract
This thesis focuses on control of the unicycle. The major objective is to solve the regulation problem while guaranteeing prescribed performance. The main contribution is the combination of the standard control laws (designed with polar coordinates and time-varying laws), with the prescribed performance control technique. Two particular transformation to bind linear or angular coordinates are proposed. Simulations confirm the effectiveness of the proposed solutionsFile in questo prodotto:
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Utilizza questo identificativo per citare o creare un link a questo documento:
https://hdl.handle.net/20.500.12608/17505