Mikołaj Jerzy Przybylski

A Fixed–Time Positional Path–Following Control System for Unicycle–Like Mobile Robots with Constrained Inputs: Design and Robustness

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 wheels’ axle, guarantees local convergence of a positional...