Controle de seguimiento de caminho com sinais de comando limitados aplicado a robos móveis uniciclos.

WANDERLEY CARDOSO; TEODIANO FREIRE BASTOS; MARIO SARCINELLI; RICARDO CARELLI

Juiz de Fora, Minas Gerais, Brasil

Congreso; XVII Congresso Brasileiro de Automatica, CBA; 2008

Asociación Brasilera de Control Automático

Current designs of path-following controllers for mobile vehicles consider that the vehicle is capable to reach unbounded angular velocities. Thus, they show very good performance when the mobile vehicle is close to the reference path (the distance error is enough small), but when such error is large the system behavior can be unpredictable, because the control signal, and, in turn, the angular velocity command, can present values larger than the maximum velocity of the mobile vehicle. Hence, this work presents some modifications at a path-following controller, making the control signal bounded even if the vehicle is infinitely distant of the goal. Asymptotic stability considering the modified controller is formally proved through the Lyapunov theory. Experimental and simulation results show that the proposed controller performs quite well.