Controlador dinámico para seguimiento de caminho baseado em trailer virtual entre robos móveis

WANDERLEY CELESTE; TEODIANO FREIRE; MARIO SARCINELLI; RICARDO CARELLI

Juiz de Fora, Minas Gerais, Brasil

Congreso; XVII Congresso Brasileiro de Automatica, CBA; 2008

Asociación Brasilera de Control Automático

This paper addresses a solution to the control problem of making any point connected to a unicycle-like mobile robot to follow a reference path, based on a trailer configuration involving two unicycle-type mobile robots. An algorithm of adjustment of the reference linear velocity is considered. It also includes the compensation of the mobile vehicle dynamics during the execution of the path-following task. Such dynamics is described by parameters of a new model of the mobile vehicle that was obtained in a recent work. It is shown that when such parameters are badly identified, the dynamic controller will not compensate the vehicle dynamics, thus generating higher control errors.