TY - JOUR
T1 - Constrained Trajectory Tracking Control of a Mobile Robot by Limited Integrator Anti-Windup
AU - Moreno-Valenzuela, J.
N1 - Publisher Copyright:
© 2004-2012 IEEE.
PY - 2022/3/1
Y1 - 2022/3/1
N2 - This brief considers the mobile robot trajectory tracking control problem with actuator saturation. Although problem has been considered in the literature, most approaches achieve stability at the expense of smooth limited functions on the controller terms, which may reduce the performance. The limited integrator anti-windup (LIAW) approach is a known solution to improve stability and performance in presence of actuator saturation. In general, to the best of the author's knowledge, this approach has not been analyzed with Lyapunov's theory and known applications seem to rely on intuition rather than on a formal study. In this brief, a proportional (P) plus LIAW scheme is proposed as solution to the constrained trajectory tracking control of mobile robots. For the first time, in this brief, a Lyapunov stability analysis is provided for the P+PIAW approach when applied to trajectory tracking control of a mobile robot. A numerical simulation comparison among a known scheme based on smooth saturation functions, the classical linear proportional-integral controller, and the proposed P+LIAM scheme is provided. Better results are obtained for the proposed solution since the windup problem is avoided, which is very useful in practical applications.
AB - This brief considers the mobile robot trajectory tracking control problem with actuator saturation. Although problem has been considered in the literature, most approaches achieve stability at the expense of smooth limited functions on the controller terms, which may reduce the performance. The limited integrator anti-windup (LIAW) approach is a known solution to improve stability and performance in presence of actuator saturation. In general, to the best of the author's knowledge, this approach has not been analyzed with Lyapunov's theory and known applications seem to rely on intuition rather than on a formal study. In this brief, a proportional (P) plus LIAW scheme is proposed as solution to the constrained trajectory tracking control of mobile robots. For the first time, in this brief, a Lyapunov stability analysis is provided for the P+PIAW approach when applied to trajectory tracking control of a mobile robot. A numerical simulation comparison among a known scheme based on smooth saturation functions, the classical linear proportional-integral controller, and the proposed P+LIAM scheme is provided. Better results are obtained for the proposed solution since the windup problem is avoided, which is very useful in practical applications.
KW - Actuator saturation
KW - limited integrator anti-windup
KW - mobile robot
KW - stability%
KW - trajectory tracking control
UR - http://www.scopus.com/inward/record.url?scp=85114733704&partnerID=8YFLogxK
U2 - 10.1109/TCSII.2021.3111827
DO - 10.1109/TCSII.2021.3111827
M3 - Artículo
AN - SCOPUS:85114733704
SN - 1549-7747
VL - 69
SP - 1422
EP - 1426
JO - IEEE Transactions on Circuits and Systems II: Express Briefs
JF - IEEE Transactions on Circuits and Systems II: Express Briefs
IS - 3
ER -