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
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;
Conference_Titel :
Biennial Congress of Argentina (ARGENCON), 2014 IEEE
Conference_Location :
Bariloche
Print_ISBN :
978-1-4799-4270-1
DOI :
10.1109/ARGENCON.2014.6868469
