INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Stable Null-Space Path-Following Controller for Car-Like Robots
Autor/es:
JUAN MARCOS TOIBERO; FLAVIO ROBERTI; DANIEL HERRERA ANDA; ADRIANA AMICARELLI; RICARDO CARELLI
Lugar:
Medellín
Reunión:
Congreso; Latin American Conference on Automatic Control CLCA 2016; 2016
Institución organizadora:
Universidad EAFIT
Resumen:
This paper proposes a novel path following controller for Car-Like robots. This controller incorporates the saturation of the vehicle steering angle by considering of a Null-Space design. This way, the controller has a double objective: the primary task is to avoid the saturation of the steering angle byconsidering an appropriate Gaussian functional, and as a secondary task the robot asymptotically follows a specified path in the null space of the main task. This work includes the control system stability analysis according to Lyapunov theory, and reports simulation and experimental results for an outdoor Car-Like robotverifying the correct system behavior.
