TY - GEN
T1 - Discrete Finite-time Stable Position Tracking Control of Unmanned Vehicles
AU - Hamrah, Reza
AU - Sanya, Amit K.
AU - Prabhakaran Viswanathan, Sasi
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85082469286&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85082469286&partnerID=8YFLogxK
U2 - 10.1109/CDC40024.2019.9029700
DO - 10.1109/CDC40024.2019.9029700
M3 - Conference contribution
AN - SCOPUS:85082469286
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 7025
EP - 7030
BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 58th IEEE Conference on Decision and Control, CDC 2019
Y2 - 11 December 2019 through 13 December 2019
ER -