Digital Library of Zielona Góra contains 67 670 digital objects
Object
Title: A fixed-time positional path-following control system for unicycle-like mobile robots with constrained inputs: design and robustness
Contributor:
Okarma, Krzysztof - ed. ; Skrzypczyński, Piotr - ed. ; Stefanowski, Jerzy - ed.
Subtitle:
Group publication title:
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). ; 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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 36, number 3 (2026)
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2026)
Last modified:
Nov 6, 2026
In our library since:
Nov 6, 2026
Number of object content hits:
0
All available object's versions:
https://www.zbc.uz.zgora.pl/publication/115174
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 36, number 1 (2026)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 36, number 2 (2026)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 36, number 3 (2026)
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