Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/52025
Registo completo
Campo DC | Valor | Idioma |
---|---|---|
dc.contributor.author | Silva, Jorge | por |
dc.contributor.author | Sequeira, João | por |
dc.contributor.author | Santos, Cristina | por |
dc.date.accessioned | 2018-03-12T09:25:42Z | - |
dc.date.issued | 2017 | - |
dc.identifier.issn | 0020-7721 | por |
dc.identifier.uri | https://hdl.handle.net/1822/52025 | - |
dc.description.abstract | 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. | por |
dc.description.sponsorship | The work was funded by project FCT [UID/EEA/50009/2013], by FCT (UID/EEA/04436/2013), by FEDER funds through the COMPETE 2020 - Programa Operacional Competitividade e Internacionalizacao (POCI) with the reference project POCI-01-0145-FEDER-006941 and grant SFRH/BD/68805/2010. | por |
dc.language.iso | eng | por |
dc.publisher | Taylor and Francis | por |
dc.relation | info:eu-repo/grantAgreement/FCT/5876/147329/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/5876/147325/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/SFRH/SFRH%2FBD%2F68805%2F2010/PT | por |
dc.rights | restrictedAccess | por |
dc.subject | Autonomous navigation | por |
dc.subject | contraction theory | por |
dc.subject | nonlinear dynamical systems | por |
dc.subject | wheeled robots | por |
dc.title | A robot control architecture supported on contraction theory | por |
dc.type | article | - |
dc.peerreviewed | yes | por |
oaire.citationStartPage | 209 | por |
oaire.citationEndPage | 224 | por |
oaire.citationIssue | 1 | por |
oaire.citationVolume | 48 | por |
dc.date.updated | 2018-03-09T15:55:48Z | - |
dc.identifier.doi | 10.1080/00207721.2016.1184355 | por |
dc.description.publicationversion | info:eu-repo/semantics/publishedVersion | por |
dc.subject.wos | Science & Technology | - |
sdum.export.identifier | 4353 | - |
sdum.journal | International Journal of Systems Science | por |
Aparece nas coleções: | DEI - Artigos em revistas internacionais |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
---|---|---|---|---|
A robot control architecture supported on contraction theory_jorge_2017.pdf Acesso restrito! | 2,46 MB | Adobe PDF | Ver/Abrir |