Resumen
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.
Título traducido de la contribución | Trajectory tracking of a mobile robot (3,0) by means of bounded control. |
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Idioma original | Español |
Páginas (desde-hasta) | 426-434 |
Número de páginas | 9 |
Publicación | RIAI - Revista Iberoamericana de Automatica e Informatica Industrial |
Volumen | 11 |
N.º | 4 |
DOI | |
Estado | Publicada - 1 oct. 2014 |
Palabras clave
- Mobile robot (3,0)
- bounded control
- nested function
- nonlinear control
- trajectory tracking