Joint MECHATRONICS 2025, ROBOTICS 2025 Paper Abstract

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Paper FrBT4.6

Carrierou, Amélie (Université de lorraine), Join, Cédric (Univ. Lorraine), Condomines, Jean Philippe (ENAC (French Civil Aviation School))

Restricted-Model Control with Invariant Error Applied to the Nonholonomic Car

Scheduled for presentation during the Regular Session "Smart Infrastructure & Collaborative Systems" (FrBT4), Friday, July 18, 2025, 15:40−16:00, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Keywords Adaptive robot control, Robust robot control, Mobile robots and vehicles

Abstract

This paper presents the application of Restricted-Model Control (RMC) architecture for trajectory tracking, focusing on the nonholonomic car model. We address a critical case, the tracking of a circular trajectory passing through singularities of the classical RMC controller. These singularities lead to instabilities when the system is subject to initial position and orientation errors. To overcome this problem, an improvement of the control architecture by introducing an invariant error is proposed. Its robustness to initial conditions and noise is evaluated using simulation tests.

 

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