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dc.contributor.author
Resende, Cassius Z.  
dc.contributor.author
Carelli Albarracin, Ricardo Oscar  
dc.contributor.author
Sarcinelli Filho, Mário  
dc.date.available
2016-01-27T20:01:28Z  
dc.date.issued
2013-10  
dc.identifier.citation
Resende, Cassius Z.; Carelli Albarracin, Ricardo Oscar; Sarcinelli Filho, Mário; A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains; Elsevier; Control Engineering Practice; 21; 10; 10-2013; 1302-1309  
dc.identifier.issn
0967-0661  
dc.identifier.uri
http://hdl.handle.net/11336/3857  
dc.description.abstract
This paper proposes a fuzzy controller for trajectory tracking with unicycle-like mobile robots. Such controller uses two Takagi–Sugeno (TS) fuzzy blocks to generate its gains. The controller is able to limit the velocity and control signals of the robot, and to reduce the errors arising from its dynamics as well. The stability of the developed controller is proven, using the theory of Lyapunov. Experimental results show that the use of the proposed controller is attractive in comparison with the use of a controller with fixed saturation function.  
dc.format
application/pdf  
dc.language.iso
eng  
dc.publisher
Elsevier  
dc.rights
info:eu-repo/semantics/openAccess  
dc.rights.uri
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/  
dc.subject
Robotics  
dc.subject
Mobile Robots  
dc.subject
Fuzzy Control  
dc.subject
Nonlinear Control Systems  
dc.subject
Autonomous Vehicles  
dc.subject
Takagi–Sugeno Model  
dc.subject.classification
Control Automático y Robótica  
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información  
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS  
dc.title
A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains  
dc.type
info:eu-repo/semantics/article  
dc.type
info:ar-repo/semantics/artículo  
dc.type
info:eu-repo/semantics/publishedVersion  
dc.date.updated
2016-03-30 10:35:44.97925-03  
dc.journal.volume
21  
dc.journal.number
10  
dc.journal.pagination
1302-1309  
dc.journal.pais
Países Bajos  
dc.journal.ciudad
Amsterdam  
dc.description.fil
Fil: Resende, Cassius Z.. Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil  
dc.description.fil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina  
dc.description.fil
Fil: Sarcinelli Filho, Mário. Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil  
dc.journal.title
Control Engineering Practice  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0967066113001056  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/issn/0967-0661  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1016/j.conengprac.2013.05.012  

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