We consider mobile robots described through unicycle dynamics equipped with on-board range sensors and cameras, one facing forward and one facing backward, providing measurements of the distance and misalignment to a target. We propose a hybrid control law combining the two on-board measurements and discuss stability results for the closed-loop expressed in the on-board camera-based coordinates, using Lyapunov-based arguments. We prove robustness of the stability properties to uncertainties affecting the sensors and external perturbations acting on the robot. The results are illustrated via simulations.
Ballaben, R., Astolfi, A., Braun, P., Zaccarian, L. (2026). Orchestrating on-board sensors for global hybrid robust stabilization of unicycles. AUTOMATICA, 183 [10.1016/j.automatica.2025.112502].
Orchestrating on-board sensors for global hybrid robust stabilization of unicycles
Astolfi, A;Zaccarian, L
2026-01-01
Abstract
We consider mobile robots described through unicycle dynamics equipped with on-board range sensors and cameras, one facing forward and one facing backward, providing measurements of the distance and misalignment to a target. We propose a hybrid control law combining the two on-board measurements and discuss stability results for the closed-loop expressed in the on-board camera-based coordinates, using Lyapunov-based arguments. We prove robustness of the stability properties to uncertainties affecting the sensors and external perturbations acting on the robot. The results are illustrated via simulations.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
