@misc{Michałek_Maciej_A,
 author={Michałek, Maciej and Przybylski, Mikołaj Jerzy},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={This paper presents a fixed-time solution to the positional path-following control task for unicycle-like mobile robots with constraints imposed on the control inputs. The proposed control system, designed for a guidance point located out of the robot Wheel` axle, guarantees local convergence of a positional error for a guidance point in finite time which is upper bounded by a constant (independent of an initial robot configuration).},
 abstract={Apart from control derivation and a stability proof conducted for closed-loop dynamics, the paper includes also a robustness analysis which reveals how the fixed-time control function improves robustness of the closed-loop system to external perturbations affecting the control input channels of a robot. Numerical simulations and experimental results validate the concept, and also highlight some computational and implementation issues important in practical applications.},
 title={A fixed-time positional path-following control system for unicycle-like mobile robots with constrained inputs: design and robustness},
 type={artykuł},
 keywords={intelligent systems, fixed-time control, path following, nonholonomic unicycle-like mobile robot, constrained control inputs, robustness},
}