Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/52025
Título: | A robot control architecture supported on contraction theory |
Autor(es): | Silva, Jorge Sequeira, João Santos, Cristina |
Palavras-chave: | Autonomous navigation contraction theory nonlinear dynamical systems wheeled robots |
Data: | 2017 |
Editora: | Taylor and Francis |
Revista: | International Journal of Systems Science |
Resumo(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. |
Tipo: | Artigo |
URI: | https://hdl.handle.net/1822/52025 |
DOI: | 10.1080/00207721.2016.1184355 |
ISSN: | 0020-7721 |
Arbitragem científica: | yes |
Acesso: | Acesso restrito UMinho |
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 |