Trajectory tracking of unicycles under sampling and discrete-time Passivity-Based Control

The paper provides a new sampled-data and single-rate control law for trajectory tracking of unicycles under sampling. Assuming the reference generated by a continuoustime input sequence that is persistently exciting the design consists of two phases: first a new discrete-time generator is proposed; then, asymptotic tracking is achieved via a discretetime IDA-PBC strategy. Simulations illustrate the result of enhancing the efficiency of the proposed control law.