TY - JOUR
T1 - A family of saturated controllers for UWMRs
AU - Moreno-Valenzuela, Javier
AU - Montoya-Villegas, Luis
AU - Pérez-Alcocer, Ricardo
AU - Sandoval, Jesús
N1 - Publisher Copyright:
© 2020 ISA
PY - 2020/5
Y1 - 2020/5
N2 - Input saturation appears in a physical system when a large power dissipation is requested. In this situation, and specifically for unicycle-type wheeled mobile robots, actuators only can deliver a finite amount of power. Thus, in practice the linear and angular velocity input of this class of mobile robots is limited and this should be considered in the control design. In this paper, a family of controllers that produce saturated velocity input for unicycle-type wheeled mobile robots is presented. The proposed family of controllers is designed to satisfy the trajectory tracking control goal. Sufficient conditions to prove the closed-loop system global asymptotic stability are established by using Lyapunov's theory. Already reported schemes and original designs are shown to satisfy the properties of the given family of controllers. By using two different motion tasks, experimental tests in real-time with five saturated control schemes are presented in order to validate the proposed theory. In order to show the ability of the family of controllers to produce limited control action, experiments have also been carried out with an unsaturated algorithm. Better tracking accuracy is obtained with the original design derived from the proposed class of algorithms.
AB - Input saturation appears in a physical system when a large power dissipation is requested. In this situation, and specifically for unicycle-type wheeled mobile robots, actuators only can deliver a finite amount of power. Thus, in practice the linear and angular velocity input of this class of mobile robots is limited and this should be considered in the control design. In this paper, a family of controllers that produce saturated velocity input for unicycle-type wheeled mobile robots is presented. The proposed family of controllers is designed to satisfy the trajectory tracking control goal. Sufficient conditions to prove the closed-loop system global asymptotic stability are established by using Lyapunov's theory. Already reported schemes and original designs are shown to satisfy the properties of the given family of controllers. By using two different motion tasks, experimental tests in real-time with five saturated control schemes are presented in order to validate the proposed theory. In order to show the ability of the family of controllers to produce limited control action, experiments have also been carried out with an unsaturated algorithm. Better tracking accuracy is obtained with the original design derived from the proposed class of algorithms.
KW - Nonlinear control
KW - Real-time experiments
KW - Trajectory tracking control
KW - Unicycle wheeled mobile robots
KW - Velocity input saturation
UR - http://www.scopus.com/inward/record.url?scp=85078180135&partnerID=8YFLogxK
U2 - 10.1016/j.isatra.2020.01.007
DO - 10.1016/j.isatra.2020.01.007
M3 - Artículo
C2 - 31980208
SN - 0019-0578
VL - 100
SP - 495
EP - 509
JO - ISA Transactions
JF - ISA Transactions
ER -