A New Finite–Time Controller Design for Simultaneous Tracking And Regulation of Unicycle Mobile Robots

https://doi.org/10.58571/CNCA.AMCA.2025.012

Resumen: Due to the nonholonomic nature of the Unicycle Mobile Robot (UMR) kinematics, the regulation and tracking problems are typically addressed separately, often requiring a unifying time–varying or switched control scheme to handle both tasks simultaneously. In this result, we introduce a time–invariant controller design capable of solving simultaneously the tracking and regulation problems, for the UMR, ensuring the convergence of the error vector to the origin in a finite time. The controller design is based on the unit vector control approach and a transformation to the Heisenberg system, which is an equivalent diffeomorphic system to the kinematics of the UMR.

¿Cómo citar?

Mera, M., Ríos, H., Ushirobira, R. & Efimov, D. (2025). A New Finite–Time Controller Design for Simultaneous Tracking And Regulation of Unicycle Mobile Robots. Memorias del Congreso Nacional de Control Automático 2025, pp. 68-73. https://doi.org/10.58571/CNCA.AMCA.2025.012

Palabras clave

Heisenberg System, Non–holonomic System, Nonlinear Control.

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