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.
|Original language||American English|
|Number of pages||9|
|Journal||RIAI - Revista Iberoamericana de Automatica e Informatica Industrial|
|State||Published - 1 Jan 2014|
Guerrero-Castellanos, J. F., Villarreal-Cervantes, M. G., Sánchez-Santana, J. P., & Ramírez-Martínez, S. (2014). Trajectory tracking of a mobile robot (3,0) by means of bounded control. RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 426-434. https://doi.org/10.1016/j.riai.2014.09.005