Trajectory tracking of a mobile robot (3,0) by means of bounded control.

J. F. Guerrero-Castellanos, M. G. Villarreal-Cervantes, J. P. Sánchez-Santana, S. Ramírez-Martínez

Research output: Contribution to journalArticle

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Abstract

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 languageAmerican English
Pages (from-to)426-434
Number of pages9
JournalRIAI - Revista Iberoamericana de Automatica e Informatica Industrial
DOIs
StatePublished - 1 Jan 2014

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