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Dettaglio pubblicazione

2022, IEEE CONTROL SYSTEMS LETTERS, Pages 757-762 (volume: 7)

Sampled-data steering of unicycles via PBC (01a Articolo in rivista)

Mattioni M., Moreschini A., Monaco S., Normand-Cyrot D.

In this paper, on the basis of a recently proposed discrete-time port-Hamiltonian representation of sampled-data dynamics, we propose a new time-varying digital feedback for steering mobile robots. The quality of the proposed passivity-based control is validated and compared through simulations with the existing literature and the continuous-time implementation using the unicycle as a case study.
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