TY - JOUR
T1 - A PD path-tracking controller plus inner velocity loops for a wheeled mobile robot
AU - Hernández-Guzmán, Victor M.
AU - Silva-Ortigoza, Ramón
AU - Márquez-Sánchez, Celso
N1 - Publisher Copyright:
© 2015 Taylor & Francis and The Robotics Society of Japan.
PY - 2015/8/18
Y1 - 2015/8/18
N2 - In this paper, we present a controller to solve the path-tracking task in a wheeled mobile robot. We show that a linear PD controller, driven by the tracking error, can be used to generate the desired profiles to be tracked by the motor velocities by means of two linear inner proportional-integral loops. We formally prove that an ultimate bound exists which can be rendered small by a suitable selection of the controller gains. This is the first time that such a result is presented in the literature when considering, simultaneously, both the kinematic and the dynamic models of the wheeled mobile robot.
AB - In this paper, we present a controller to solve the path-tracking task in a wheeled mobile robot. We show that a linear PD controller, driven by the tracking error, can be used to generate the desired profiles to be tracked by the motor velocities by means of two linear inner proportional-integral loops. We formally prove that an ultimate bound exists which can be rendered small by a suitable selection of the controller gains. This is the first time that such a result is presented in the literature when considering, simultaneously, both the kinematic and the dynamic models of the wheeled mobile robot.
KW - Lyapunov stability
KW - PD control
KW - path tracking
KW - ultimate bound
KW - wheeled mobile robots
UR - http://www.scopus.com/inward/record.url?scp=84940590253&partnerID=8YFLogxK
U2 - 10.1080/01691864.2015.1033459
DO - 10.1080/01691864.2015.1033459
M3 - Artículo
SN - 0169-1864
VL - 29
SP - 1015
EP - 1029
JO - Advanced Robotics
JF - Advanced Robotics
IS - 16
ER -