Be the first to rate this file! 8 Downloads (last 30 days) File Size: 4.72 KB File ID: #38502 Version: 1.0
image thumbnail

Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control



Steers unicycle despite model perturb. scaling speed & turning rate by unknown, bounded constant.

| Watch this File

File Information

This Matlab code implements algorithms from the paper:

"Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control", Becker, A.; Bretl, T.;
Robotics, IEEE Transactions on , vol.28, no.3, pp.580-591, June 2012
doi: 10.1109/TRO.2011.2182117
preprint at

 Code by Tim Bretl and Aaron Becker

 ABSTRACT: This controller considers the problem of steering a nonholonomic unicycle despite model perturbation that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that this system is ensemble controllable, and derive an approximate steering algorithm that brings the unicycle to within an arbitrarily small neighborhood of any given Cartesian position. We apply our work to a differential-drive robot with unknown but bounded wheel radius, and validate our approach with hardware experiments

User specifies the ORDER, the goal location (DX, DY), and the spread of the ensemble


This file inspired Ensemble Control Mass Spring.Zip.

Required Products Symbolic Math Toolbox
MATLAB release MATLAB 7.13 (R2011b)
Other requirements *note that Symbolic Math Toolbox is not needed by changing one line in the code.
Tags for This File   Please login to tag files.
Please login to add a comment or rating.

Contact us