A linear algebra controller based on reduced order models applied to trajectory tracking for mobile robots: an experimental validation

Abstract

A linear algebra controller (LACr) based on an empirical linear model of the system is presented in this paper. The controller design is based on a first order plus dead time (FOPDT) model and can be tuned using the characteristic parameters obtained from the reaction curve. In previous studies, the versatility of this proposed controller was tested by simulations, proving be an alternative to control many kinds of processes. In this paper, the proposed controller is implemented for trajectory tracking using a real mobile robot platform. The performance results are compared against a PI controller using the ISE performance index to measure it.