Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots
The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem of model errors is focused and the zero convergence of tracking errors under polynomi...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2015 |
| País: | Argentina |
| Institución: | Consejo Nacional de Investigaciones Científicas y Técnicas |
| Repositorio: | CONICET Digital (CONICET) |
| Idioma: | inglés |
| OAI Identifier: | oai:ri.conicet.gov.ar:11336/43405 |
| Acceso en línea: | http://hdl.handle.net/11336/43405 |
| Access Level: | acceso abierto |
| Palabra clave: | Tracking Control Difference Equations Uncertainties Non-Linear Multivariablecontrol https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
| Sumario: | The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem of model errors is focused and the zero convergence of tracking errors under polynomial uncertainties is demonstrated. A simple scheme is obtained, which can be easily implemented. Simulation and experimental results are presented and discussed, showing the good performance of the controller. |
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