TY - JOUR
T1 - Seguimiento de trayectorias de un robot móvil (3,0) mediante control acotado
AU - Guerrero-Castellanos, J. F.
AU - Villarreal-Cervantes, M. G.
AU - Sánchez-Santana, J. P.
AU - Ramírez-Martínez, S.
PY - 2014/10/1
Y1 - 2014/10/1
N2 - The present work deals with the tracking problem of a mobile robot (3,0) based on the kinematic model and proposes a control strategy that takes into account a priori input signals bounds i.e. the linear and angular velocity of the robot. The objective of this control approach is to maximize the effectiveness of the actuators without taking a risk in the system stability. The resulting nonlinear control is composed of a nonlinear compensator based on the kinematic model and nested saturation approach. The control law can be tuned to force the error dynamics trajectories to enter in a neighborhood of the origin in a finite time and remain thereafter. Experimental results show the performance of the closed loop system. Furthermore, owing to simplicity, the proposed control law is suitable for application where on-board computational resources are limited.
AB - The present work deals with the tracking problem of a mobile robot (3,0) based on the kinematic model and proposes a control strategy that takes into account a priori input signals bounds i.e. the linear and angular velocity of the robot. The objective of this control approach is to maximize the effectiveness of the actuators without taking a risk in the system stability. The resulting nonlinear control is composed of a nonlinear compensator based on the kinematic model and nested saturation approach. The control law can be tuned to force the error dynamics trajectories to enter in a neighborhood of the origin in a finite time and remain thereafter. Experimental results show the performance of the closed loop system. Furthermore, owing to simplicity, the proposed control law is suitable for application where on-board computational resources are limited.
KW - Mobile robot (3,0)
KW - bounded control
KW - nested function
KW - nonlinear control
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=84908202671&partnerID=8YFLogxK
U2 - 10.1016/j.riai.2014.09.005
DO - 10.1016/j.riai.2014.09.005
M3 - Artículo
SN - 1697-7912
VL - 11
SP - 426
EP - 434
JO - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial
JF - RIAI - Revista Iberoamericana de Automatica e Informatica Industrial
IS - 4
ER -