Artículos de revistas
Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots
Date
2014-05Registration 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
CONICET Digital
CONICET
Author
Serrano, Mario Emanuel
Scaglia, Gustavo Juan Eduardo
Auat Cheein, Fernando Alfredo
Mut, Vicente Antonio
Ortiz, Oscar Alberto
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.