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		<identifier>oai:zbc.uz.zgora.pl:98921</identifier>
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<dc:title xml:lang="pl"><![CDATA[A fixed-time positional path-following control system for unicycle-like mobile robots with constrained inputs: design and robustness]]></dc:title>
<dc:creator><![CDATA[Michałek, Maciej]]></dc:creator>
<dc:creator><![CDATA[Przybylski, Mikołaj Jerzy]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[intelligent systems]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[fixed-time control]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[path following]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[nonholonomic unicycle-like mobile robot]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[constrained control inputs]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[robustness]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[This paper presents a fixed-time solution to the positional path-following control task for unicycle-like mobile robots with constraints imposed on the control inputs. The proposed control system, designed for a guidance point located out of the robot Wheel` axle, guarantees local convergence of a positional error for a guidance point in finite time which is upper bounded by a constant (independent of an initial robot configuration).]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[Apart from control derivation and a stability proof conducted for closed-loop dynamics, the paper includes also a robustness analysis which reveals how the fixed-time control function improves robustness of the closed-loop system to external perturbations affecting the control input channels of a robot. Numerical simulations and experimental results validate the concept, and also highlight some computational and implementation issues important in practical applications.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Okarma, Krzysztof - ed.]]></dc:contributor>
<dc:contributor><![CDATA[Skrzypczyński, Piotr - ed.]]></dc:contributor>
<dc:contributor><![CDATA[Stefanowski, Jerzy - ed.]]></dc:contributor>
<dc:date><![CDATA[2026]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://zbc.uz.zgora.pl/Content/98921/amcs-2026-0028.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/dlibra/publication/115174/edition/98921/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:98921]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 36, number 3 (2026)]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:115174]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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