Please use this identifier to cite or link to this item: http://hdl.handle.net/1822/52025

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.
TypeArticle
URIhttp://hdl.handle.net/1822/52025
DOI10.1080/00207721.2016.1184355
ISSN0020-7721
Peer-Reviewedyes
AccessRestricted access (UMinho)
Appears in Collections:DEI - Artigos em revistas internacionais

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