Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots

Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Auat Cheein, Fernando Alfredo; Mut, Vicente Antonio; Ortiz, Oscar Alberto

Artículos de revistas

Date

2014-05

Registration in:

Scaglia, Gustavo Juan Eduardo; Serrano, Mario Emanuel; Ortiz, Oscar Alberto; Auat Cheein, Fernando Alfredo; Mut, Vicente Antonio; Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots; Cambridge University Press; Robotica; 33; 10; 5-2014; 2186-2203

0263-5747

http://hdl.handle.net/11336/33528

CONICET Digital

CONICET

http://repositorioslatinoamericanos.uchile.cl/handle/2250/1886140

Author

Serrano, Mario Emanuel

Scaglia, Gustavo Juan Eduardo

Auat Cheein, Fernando Alfredo

Mut, Vicente Antonio

Ortiz, Oscar Alberto

Institutions

Consejo Nacional de Investigaciones Científicas y Tecnológicas (Argentina)

Abstract

This paper is a continuation of a previous work of the authors, Scaglia et al., 1. A method is presented to choose the controller parameters such that, the values of the control actions do not exceed the maximum allowable and the tracking errors tend to zero. In addition, the analysis of the controller design parameters is included. The experimental results (laboratory experiments and a real world application) demonstrate the efficiency of the controller.

Subjects

Control System Design

Nonlinear Model

Tracking Trajectory Control

Mobile Robots

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