Title :
Digital stabilization of finite sampled nonlinear dynamics with delays: The unicycle example
Author :
Tanasa, Valentin ; Monaco, S. ; Normand-Cyrot, Dorothee
Author_Institution :
Lab. des Signaux et Syst., Supelec, Gif-sur-Yvette, France
Abstract :
The paper illustrates through the example of a mobile robot how discretization makes easier the design of a predictor based stabilizer for nonlinear dynamics with delayed input admitting finite sampled equivalent models.
Keywords :
control system synthesis; delay systems; mobile robots; nonlinear dynamical systems; stability; delayed input admitting finite sampled equivalent models; delays; digital stabilization; finite sampled nonlinear dynamics; mobile robot; predictor based stabilizer design; unicycle; Computational modeling; Delays; Equations; Mathematical model; Mobile robots; Simulation; Vehicle dynamics;
Conference_Titel :
Control Conference (ECC), 2013 European
Conference_Location :
Zurich
