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A nonlinear trajectory tracking controller for mobile robots with velocity limitation via parameters regulation

Published online by Cambridge University Press:  16 April 2015

Mario E. Serrano ,
Sebastián A. Godoy ,
Vicente A. Mut ,
Oscar A. Ortiz  and
Gustavo J. E. Scaglia
Mario E. Serrano*
Affiliation:
Instituto de Ingeniería Química, Universidad Nacional de San Juan, Av. Libertador San Martín Oeste 1109, San Juan J5400ARL, Argentina
Sebastián A. Godoy*
Affiliation:
Instituto de Ingeniería Química, Universidad Nacional de San Juan, Av. Libertador San Martín Oeste 1109, San Juan J5400ARL, Argentina
Vicente A. Mut*
Affiliation:
Instituto de Automática, Universidad Nacional de San Juan, Av. Libertador San Martín Oeste 1109, San Juan J5400ARL, Argentina
Oscar A. Ortiz*
Affiliation:
Instituto de Ingeniería Química, Universidad Nacional de San Juan, Av. Libertador San Martín Oeste 1109, San Juan J5400ARL, Argentina
Gustavo J. E. Scaglia*
Affiliation:
Instituto de Ingeniería Química, Universidad Nacional de San Juan, Av. Libertador San Martín Oeste 1109, San Juan J5400ARL, Argentina Departamento de Automatización y Control Industrial, Facultad de Ingeniería Eléctrica y Electrónica, Escuela Politécnica Nacional, Quito, Ecuador
*
Corresponding authors. E-mails: eserrano@fi.unsj.edu.ar
E-mail: sgodoy@unsj.edu.ar
E-mail: vmut@unsj.edu.ar
E-mail: rortiz@unsj.edu.ar
E-mail: gscaglia@unsj.edu.ar
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Summary

This paper addresses the problem of trajectory tracking control in mobile robots under velocity limitations. Following the results reported in ref. [1], the problem of trajectory tracking considering control actions constraint is focused and the zero convergence of the tracking errors is demonstrated. In this work, the original methodology is expanded considering a controller that depends not only on the position but also on the velocity. A simple scheme is obtained, which can be easily implemented in others controllers of the literature. Experimental results are presented and discussed, demonstrating the good performance of the controller.

Keywords

Trajectory tracking controlDifference equationsUncertaintiesNonlinear multivariable controlMobile robot
Type
Articles
Information
Robotica , Volume 34 , Issue 11 , November 2016 , pp. 2546 - 2565
Copyright
Copyright © Cambridge University Press 2015 

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