A robot control architecture supported on contraction theory

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