PROBIEN 20416
INSTITUTO DE INVESTIGACION Y DESARROLLO EN INGENIERIA DE PROCESOS, BIOTECNOLOGIA Y ENERGIAS ALTERNATIVAS
Unidad Ejecutora - UE
artículos
Título:
Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation
Autor/es:
GUSTAVO SCAGLIA; FRANCISCO ROSSOMANDO; SEBASTIÁN GODOY; MARIO EMANUEL SERRANO; GUSTAVO SCAGLIA; FRANCISCO ROSSOMANDO; SEBASTIÁN GODOY; MARIO EMANUEL SERRANO
Revista:
IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION
Editorial:
OXFORD UNIV PRESS
Referencias:
Año: 2019
ISSN:
0265-0754
Resumen:
This paper addresses trajectory tracking problem in mobile robots considering additive uncertainties. Thecontroller design method is based on linear algebra theory. Numerical estimation techniques are used toestimate the uncertainty value in each sample time. The controller is calibrated by stochastic way using theMonte Carlo Experiment. In addition, the proof of convergence to zero of the tracking error is included.The theoretical results are validated by simulation and experimental tests. The controller proposed showsthat it can be used to reduce the effect of additive uncertainties in the tracking error.
