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dc.contributor.author
Auat Cheein, Fernando Alfredo
dc.contributor.author
Scaglia, Gustavo Juan Eduardo
dc.date.available
2018-02-26T21:38:22Z
dc.date.issued
2014-11
dc.identifier.citation
Auat Cheein, Fernando Alfredo; Scaglia, Gustavo Juan Eduardo; Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology; John Wiley & Sons Inc; Journal Of Field Robotics; 31; 6; 11-2014; 861-887
dc.identifier.issn
1556-4959
dc.identifier.uri
http://hdl.handle.net/11336/37207
dc.description.abstract
A major issue in the automatic guidance of vehicles is the design of control laws dedicated to the specific mobile platform used. Thus, if the model associated with the mobile platform or its constraints change, a new control law must be designed. In this paper, the problem of designing trajectory tracking controllers for unmanned vehicles is addressed. The methodology proposed here is an algebraic approach for obtaining optimum and stable trajectory tracking controllers for nonholonomic vehicles. Such an algebraic formulation makes the proposal suitable for embedded applications. The stability and optimality of the proposed controllers design method is theoretically proven for both bicycle-type and unicycle-type mobile robots, although the methodology can be extended to other types of unmanned vehicles. Four tests were carried out in this work in order to show the advantages of the proposal: the step discontinuity test, the curvature test, the real world test, and navigation under disturbances in the control actions. The results obtained were compared with four trajectory tracking controllers previously published in the literature. Additionally, an agricultural application is included in order to show the performance of the proposed controller when applied to a service unit within an agricultural environment. Field experiments demonstrating the capabilities of our proposal are also reported and discussed.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
John Wiley & Sons Inc
dc.rights
info:eu-repo/semantics/restrictedAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
Trajectory Control
dc.subject
Mobile Robots
dc.subject
Non-Holonomic Vehicles
dc.subject
Bicycle Type And Unicycle Type Mobile Robots
dc.subject.classification
Ingeniería de Sistemas y Comunicaciones
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS
dc.title
Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2018-02-26T15:08:27Z
dc.journal.volume
31
dc.journal.number
6
dc.journal.pagination
861-887
dc.journal.pais
Estados Unidos
dc.description.fil
Fil: Auat Cheein, Fernando Alfredo. Universidad Técnica Federico Santa María; Chile. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
dc.description.fil
Fil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan; Argentina
dc.journal.title
Journal Of Field Robotics
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1002/rob.21492
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://onlinelibrary.wiley.com/doi/10.1002/rob.21492/abstract


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