A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation

Abstract

In this paper the problem of trajectory tracking considers that the values of the control actions do not exceed a maximum allowable value and the zero convergence of tracking errors is demonstrated. The control law is based on a linear algebra approach. First, the desired trajectories of some state variables are determined by analyzing the conditions for a system of linear equations to have an exact solution. Therefore, the control signals are obtained by solving the system of linear equations. The optimal controller parameters are selected through nonlinear programming so as to prevent the saturation of the control actions. Experimental results are presented and discussed, demonstrating the controller's good performance. Finally, the performance of the proposed controller is compared with a fuzzy controller, and all the results are validated through experimental laboratory tests.