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A robot control architecture supported on contraction theory

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  • Jorge Silva
  • João Sequeira
  • Cristina Santos

Abstract

This paper proposes fundamentals for stability and success of a global system composed by a mobile robot, a real environment and a navigation architecture with time constraints. Contraction theory is a typical framework that provides tools and properties to prove the stability and convergence of the global system to a unique fixed point that identifies the mission success. A stability indicator based on the combination contraction property is developed to identify the mission success as a stability measure. The architecture is fully designed through C1 nonlinear dynamical systems and feedthrough maps, which makes it amenable for contraction analysis. Experiments in a realistic and uncontrolled environment are realised to verify if inherent perturbations of the sensory information and of the environment affect the stability and success of the global system.

Suggested Citation

  • Jorge Silva & João Sequeira & Cristina Santos, 2017. "A robot control architecture supported on contraction theory," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(1), pages 209-224, January.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:1:p:209-224
    DOI: 10.1080/00207721.2016.1184355
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