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TitleA robot control architecture supported on contraction theory
Author(s)Silva, Jorge
Sequeira, João
Santos, Cristina
KeywordsAutonomous navigation
contraction theory
nonlinear dynamical systems
wheeled robots
Issue date2017
PublisherTaylor & Francis
JournalInternational Journal of Systems Science
Abstract(s)This paper proposes fundamentals for stability and success of a global system composed by a mobile robot, a real environment and a navigation architecture with time constraints. Contraction theory is a typical framework that provides tools and properties to prove the stability and convergence of the global system to a unique fixed point that identifies the mission success. A stability indicator based on the combination contraction property is developed to identify the mission success as a stability measure. The architecture is fully designed through C-1 nonlinear dynamical systems and feedthrough maps, which makes it amenable for contraction analysis. Experiments in a realistic and uncontrolled environment are realised to verify if inherent perturbations of the sensory information and of the environment affect the stability and success of the global system.
AccessRestricted access (UMinho)
Appears in Collections:DEI - Artigos em revistas internacionais

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