DocumentCode
197353
Title
Trajectory tracking controller based on numerical approximation under control actions constraints
Author
Serrano, Mario Emanuel ; Scaglia, Gustavo Juan Eduardo ; Romoli, Santiago ; Mut, Vicente ; Godoy, Sebastian
Author_Institution
Inst. de Ing. Quim., Univ. Nac. de San Juan, San Martin, Argentina
fYear
2014
fDate
11-13 June 2014
Firstpage
37
Lastpage
42
Abstract
In this paper the problem of trajectory tracking considering that the values of the control actions do not exceed the maximum allowable is focused and the zero convergence of tracking errors is demonstrated. A new control law based on the numerical approximation of the mobile robot model is developed. Experimental results are presented and discussed, demonstrating the good performance of the controller.
Keywords
approximation theory; mobile robots; tracking; trajectory control; control actions constraints; mobile robot model; numerical approximation; tracking error zero convergence; trajectory tracking controller; Angular velocity; Convergence; Equations; Mobile robots; Programming; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Biennial Congress of Argentina (ARGENCON), 2014 IEEE
Conference_Location
Bariloche
Print_ISBN
978-1-4799-4270-1
Type
conf
DOI
10.1109/ARGENCON.2014.6868469
Filename
6868469
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