Discrete Finite-time Stable Position Tracking Control of Unmanned Vehicles

Reza Hamrah, Amit K. Sanya, Sasi Prabhakaran Viswanathan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

This paper presents a finite-time stable (FTS) position tracking control scheme in discrete time for an unmanned vehicle. The control scheme guarantees discrete-time stability of the feedback system in finite time. This scheme is developed in discrete time as it is more convenient for onboard computer implementation and guarantees stability irrespective of sampling period. Finite-time stability analysis of the discrete-time tracking control is carried out using discrete Lyapunov analysis. This tracking control scheme ensures stable convergence of position tracking errors to the desired trajectory in finite time. The advantages of finite-time stabilization in discrete time over finite-time stabilization of a sampled continuous tracking control system is addressed in this paper by a numerical comparison. This comparison is performed using numerical simulations on continuous and discrete FTS tracking control schemes applied to an unmanned vehicle model.

Original languageEnglish (US)
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7025-7030
Number of pages6
ISBN (Electronic)9781728113982
DOIs
StatePublished - Dec 2019
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: Dec 11 2019Dec 13 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2019-December
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference58th IEEE Conference on Decision and Control, CDC 2019
Country/TerritoryFrance
CityNice
Period12/11/1912/13/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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