Artículo

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

Serrano, Mario EmanuelIcon ; Scaglia, Gustavo Juan EduardoIcon ; Auat Cheein, Fernando AlfredoIcon ; Mut, Vicente AntonioIcon ; Ortiz, Oscar Alberto
Fecha de publicación: 05/2014
Editorial: Cambridge University Press
Revista: Robotica
ISSN: 0263-5747
Idioma: Inglés
Tipo de recurso: Artículo publicado
Clasificación temática:

Resumen

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.
Palabras clave: Control System Design , Nonlinear Model , Tracking Trajectory Control , Mobile Robots
 
Archivos asociados
Thumbnail
 
Tamaño: 1.231Mb
Formato: PDF
.
Licencia
info:eu-repo/semantics/openAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)
Identificadores
URI: http://hdl.handle.net/11336/33528
URL: https://www.cambridge.org/core/journals/robotica/article/trajectorytracking-cont
DOI: http://dx.doi.org/10.1017/S0263574714001325
Colecciones
Articulos(INAUT)
Articulos de INSTITUTO DE AUTOMATICA
Articulos(SEDE CENTRAL)
Articulos de SEDE CENTRAL
Citación
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
Compartir
Altmétricas