Seguimiento de trayectorias de un robot móvil (3,0) mediante control acotado
[EN] The present work deals with the tracking problem of a mobile robot (3,0) based on the kinematic model and proposes a control strategy that takes into account a priori input signals bounds i.e. the linear and angular velocity of the robot. The objective of this control approach is to maximize th...
| Autores: | , , , |
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| Formato: | artículo |
| Fecha de publicación: | 2014 |
| País: | España |
| Recursos: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/144162 |
| Acesso em linha: | https://riunet.upv.es/handle/10251/144162 |
| Access Level: | acceso abierto |
| Palavra-chave: | Mobile robot (3,0) Bounded control Nested function Nonlinear control Trajectory tracking Robot móvil (3,0) Control acotado Función de saturación Control no lineal Seguimiento de trayectoria |
| Resumo: | [EN] The present work deals with the tracking problem of a mobile robot (3,0) based on the kinematic model and proposes a control strategy that takes into account a priori input signals bounds i.e. the linear and angular velocity of the robot. The objective of this control approach is to maximize the effectiveness of the actuators without taking a risk in the system stability. The resulting nonlinear control is composed of a nonlinear compensator based on the kinematic model and nested saturation approach. The control law can be tuned to force the error dynamics trajectories to enter in a neighborhood of the origin in a finite time and remain thereafter. Experimental results show the performance of the closed loop system. Furthermore, owing to simplicity, the proposed control law is suitable for application where on-board computational resources are limited. |
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