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

SERRANO M. E., GODOY S., MUT V., ORTIZ O., SCAGLIA G.

ROBOTICA

CAMBRIDGE UNIV PRESS

Lugar: Cambridge; Año: 2015

0263-5747

This paper addresses the problem of trajectory tracking control in mobile robots under velocity limitations. Following the results reported in 1, the problem of trajectory tracking considering control actions constraint is focused and the zero convergence of 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.