A nonlinear trajectory tracking controller for mobile robots with velocity limitation via parameters regulation. Issue 11 (16th April 2015)

• Record Type: Journal Article
• Authors: Serrano, Mario E.; Godoy, Sebastián A.; Mut, Vicente A.; Ortiz, Oscar A.; Scaglia, Gustavo J. E.
• Is Part Of: Robotica. Volume 34:Issue 11(2016)
• Page Start: 2546
• Page End: 2565
• Publication Date: 2015-04-16
• Subjects: Trajectory tracking control, -- Difference equations, -- Uncertainties, -- Nonlinear multivariable control, -- Mobile robot; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S026357471500020X
• Languages: English
• ISSNs: 0263-5747

Abstract

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.