México
| Article
Discrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot
| dc.creator | Velasco Villa, Martin | |
| dc.creator | Aranda Bricaire, Eduardo | |
| dc.creator | Orosco Guerrero, Rodolfo | |
| dc.date.accessioned | 2013-04-30T01:03:07Z | |
| dc.date.available | 2013-04-30T01:03:07Z | |
| dc.date.created | 2013-04-30T01:03:07Z | |
| dc.date.issued | 2009-10-15 | |
| dc.identifier | Revista Computación y Sistemas; Vol. 13 No. 2 | |
| dc.identifier | 1405-5546 | |
| dc.identifier | http://www.repositoriodigital.ipn.mx/handle/123456789/15499 | |
| dc.description.abstract | Abstract. The exact discrete-time model of a two wheel differentially driven mobile robot is obtained by direct integration of its continuous-time kinematic model. The discrete-time model obtained is used to design two discrete-time linearizing control laws with different singular manifolds. These control laws are used to propose a commutation control scheme that solves the path-tracking problem and guarantees internal stability of the closed loop system. The performance of the control scheme is evaluated by the real time implementation of the proposed control strategy over a laboratory prototype. | |
| dc.language | en_US | |
| dc.publisher | Revista Computación y Sistemas; Vol. 13 No. 2 | |
| dc.relation | Revista Computación y Sistemas;Vol. 13 No. 2 | |
| dc.subject | Keywords. Discrete-time systems, mobile robots, feedback linearization, real time systems. | |
| dc.title | Discrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot | |
| dc.type | Article |