Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots
This paper is a continuation of a previous work of the authors, Scaglia et al., 1. A method is presented to choose the controller parameters such that, the values of the control actions do not exceed the maximum allowable and the tracking errors tend to zero. In addition, the analysis of the control...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2014 |
| País: | Argentina |
| Institución: | Consejo Nacional de Investigaciones Científicas y Técnicas |
| Repositorio: | CONICET Digital (CONICET) |
| Idioma: | inglés |
| OAI Identifier: | oai:ri.conicet.gov.ar:11336/33528 |
| Acceso en línea: | http://hdl.handle.net/11336/33528 |
| Access Level: | acceso abierto |
| Palabra clave: | Control System Design Nonlinear Model Tracking Trajectory Control Mobile Robots https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
| Sumario: | This paper is a continuation of a previous work of the authors, Scaglia et al., 1. A method is presented to choose the controller parameters such that, the values of the control actions do not exceed the maximum allowable and the tracking errors tend to zero. In addition, the analysis of the controller design parameters is included. The experimental results (laboratory experiments and a real world application) demonstrate the efficiency of the controller. |
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