Speaker
Yuqian Li
Title
Synchronized path following for a mobile robot, a Euler-Lagrange system and closed paths
Abstract
We propose and solve a synchronized path following problem for a differential drive ground vehicle modeled as a dynamic unicycle and a 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.