INAUT 24330
INSTITUTO DE AUTOMATICA
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
Trajectory tracking controller based on numerical approximation under control actions constraints
Autor/es:
SERRANO E., SCAGLIA G., ROMOLI, S. MUT, V., GODOY S.
Lugar:
Bariloche
Reunión:
Congreso; Biennial Congress of Argentina (ARGENCON), 2014 IEEE; 2014
Institución organizadora:
IEEE
Resumen:
In this paper the problem of trajectory tracking considering that the values of the control actions do not exceed the maximum allowable is focused and the zero convergence of tracking errors is demonstrated. A new control law based on the numerical approximation of the mobile robot model is developed. Experimental results are presented and discussed, demonstrating the good performance of the controller.
