Trajectory-tracking controller design with constraints in the control signals: A case study in mobile robots

Mario Emanuel Serrano*, Gustavo Juan Eduardo Scaglia, Fernando Auat Cheein, Vicente Mut, Oscar Alberto Ortiz

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)

Abstract

This paper is a continuation of a previous work of authors, Scaglia et al. [G. J. E. Scaglia, L. M. Quintero, V. Mut and F. Di Sciascio, Numerical methods based controller design for mobile robots, Robotica 27(2), 269-279 (2009)]. 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.

Original languageEnglish
Pages (from-to)2186-2203
Number of pages18
JournalRobotica
Volume33
Issue number10
DOIs
Publication statusPublished - Dec 2015

Keywords

  • Control system design
  • Nonlinear model
  • Tracking trajectory control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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