单轮自行车全局混合鲁棒稳定的车载传感器编排

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-09-12 DOI:10.1016/j.automatica.2025.112502

Riccardo Ballaben , Alessandro Astolfi , Philipp Braun , Luca Zaccarian

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引用次数: 0

摘要

我们考虑通过配备车载距离传感器和摄像头的独轮车动力学描述的移动机器人，一个面向前方，一个面向后方，提供距离和对目标的偏差测量。我们提出了一种结合两种机载测量的混合控制律，并使用基于lyapunov的参数讨论了用机载摄像机坐标表示的闭环稳定性结果。证明了该方法对传感器的不确定性和外部扰动具有鲁棒性。通过仿真验证了结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Orchestrating on-board sensors for global hybrid robust stabilization of unicycles

We consider mobile robots described through unicycle dynamics equipped with on-board range sensors and cameras, one facing forward and one facing backward, providing measurements of the distance and misalignment to a target. We propose a hybrid control law combining the two on-board measurements and discuss stability results for the closed-loop expressed in the on-board camera-based coordinates, using Lyapunov-based arguments. We prove robustness of the stability properties to uncertainties affecting the sensors and external perturbations acting on the robot. The results are illustrated via simulations.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.