A robot control architecture supported on contraction theory

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 C-1 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.The work was funded by project FCT [UID/EEA/50009/2013], by FCT (UID/EEA/04436/2013), by FEDER funds through the COMPETE 2020 - Programa Operacional Competitividade e Internacionalizacao (POCI) with the reference project POCI-01-0145-FEDER-006941 and grant SFRH/BD/68805/2010.info:eu-repo/semantics/publishedVersio