Approximate steering of a unicycle under bounded model perturbation using ensemble control

Aaron Becker, Timothy Bretl

Research output: Contribution to journalArticle

Abstract

This paper considers the problem of steering a nonholonomic unicycle despite model perturbation that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that this system is ensemble controllable, and derive an approximate steering algorithm that brings the unicycle to within an arbitrarily small neighborhood of any given Cartesian position. We apply our work to a differential-drive robot with unknown but bounded wheel radius and validate our approach with hardware experiments.

Original languageEnglish (US)
Article number6157635
Pages (from-to)580-591
Number of pages12
JournalIEEE Transactions on Robotics
Volume28
Issue number3
DOIs
StatePublished - 2012

Keywords

  • Ensemble control theory
  • model perturbation
  • nonholonomic motion planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Approximate steering of a unicycle under bounded model perturbation using ensemble control'. Together they form a unique fingerprint.

  • Cite this