TY - JOUR
T1 - Trajectory Tracking Control of a Mobile Robot Through a Flatness-Based Exact Feedforward Linearization Scheme
AU - Luviano-Juarez, Alberto
AU - Cortes-Romero, John
AU - Sira-Ramirez, Hebertt
N1 - Publisher Copyright:
© 2015 by ASME.
PY - 2015/5/1
Y1 - 2015/5/1
N2 - In this article, a multivariable control design scheme is proposed for the reference trajectory tracking task in a kinematic model of a mobile robot. The control scheme leads to time-varying linear controllers accomplishing the reference trajectory tracking task. The proposed controller design is crucially based on the flatness property of the system leading to controlling an asymptotically decoupled set of chains of integrators by means of a linear output feedback control scheme. The feedforward linearizing control scheme is invoked and complemented with the, so called, generalized proportional integral (GPI) control scheme. Numerical simulations, as well as laboratory experimental tests, are presented for the assessment of the proposed design methodology.
AB - In this article, a multivariable control design scheme is proposed for the reference trajectory tracking task in a kinematic model of a mobile robot. The control scheme leads to time-varying linear controllers accomplishing the reference trajectory tracking task. The proposed controller design is crucially based on the flatness property of the system leading to controlling an asymptotically decoupled set of chains of integrators by means of a linear output feedback control scheme. The feedforward linearizing control scheme is invoked and complemented with the, so called, generalized proportional integral (GPI) control scheme. Numerical simulations, as well as laboratory experimental tests, are presented for the assessment of the proposed design methodology.
UR - http://www.scopus.com/inward/record.url?scp=84934284749&partnerID=8YFLogxK
U2 - 10.1115/1.4028872
DO - 10.1115/1.4028872
M3 - Artículo
SN - 0022-0434
VL - 137
JO - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
JF - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
IS - 5
M1 - 051001
ER -