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

Published online by Cambridge University Press:  29 May 2014

Mario Emanuel Serrano ,
Gustavo Juan Eduardo Scaglia ,
Fernando Auat Cheein ,
Vicente Mut  and
Oscar Alberto Ortiz
Mario Emanuel Serrano*
Affiliation:
Instituto de Ingeniería Química, Universidad Nacional de San Juan, San Juan, Argentina E-mails: gscaglia@unsj.edu.ar, rortiz@unsj.edu.ar
Gustavo Juan Eduardo Scaglia
Affiliation:
Instituto de Ingeniería Química, Universidad Nacional de San Juan, San Juan, Argentina E-mails: gscaglia@unsj.edu.ar, rortiz@unsj.edu.ar
Fernando Auat Cheein
Affiliation:
Universidad Técnica Federico Santa María, Valparaíso, Chile E-mail: fernando.auat@usm.cl
Vicente Mut
Affiliation:
Instituto de Automática, Universidad Nacional de San Juan, San Juan, Argentina E-mail: vmut@unsj.edu.ar
Oscar Alberto Ortiz
Affiliation:
Instituto de Ingeniería Química, Universidad Nacional de San Juan, San Juan, Argentina E-mails: gscaglia@unsj.edu.ar, rortiz@unsj.edu.ar
*
*Corresponding author. E-mail: eserrano@fi.unsj.edu.ar
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Summary

This paper is a continuation of a previous work of authors, Scaglia et al. [G. J. E. Scaglia, L. M. Quintero, V. Mut and F. Di Sciascio, “Numerical methods based controller design for mobile robots,” Robotica27(2), 269–279 (2009)]. 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.

Keywords

Control system designNonlinear modelTracking trajectory control
Type
Articles
Information
Robotica , Volume 33 , Issue 10 , December 2015 , pp. 2186 - 2203
Copyright
Copyright © Cambridge University Press 2014 

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