We propose and solve a synchronized path following problem for a differential drive
robot modeled as a dynamic unicycle and an Euler-Lagrange system. Each system is assigned
a simple closed curve in its output space. The outputs of systems must approach and
traverse their assigned curves while synchronizing their motions along the paths. The synchronization
problems we study in this thesis include velocity synchronization and position
synchronization. Velocity synchronization aims to force the velocities of the systems be equal
on the desired paths. Position synchronization entails enforcing a positional constraint
between the systems modeled as a constraint function on the paths. After characterizing
feasible positional constraints, a finite-time stabilizing control law is used to enforce the
position constraint.
| Identifer | oai:union.ndltd.org:WATERLOO/oai:uwspace.uwaterloo.ca:10012/7887 |
| Date | 12 September 2013 |
| Creators | Li, Yuqian |
| Source Sets | University of Waterloo Electronic Theses Repository |
| Language | English |
| Detected Language | English |
| Type | Thesis or Dissertation |
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