INVESTIGADORES
SCAGLIA Gustavo Juan Eduardo
artículos
Título:
Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots
Autor/es:
MARIO E. SERRANO; GUSTAVO J. E. SCAGLIA; FERNANDO AUAT CHEEIN; MUT VICENTE; ORTIZ, OSCAR ALBERTO
Revista:
ROBOTICA
Editorial:
CAMBRIDGE UNIV PRESS
Referencias:
Lugar: Cambridge; Año: 2015 vol. 33 p. 2186 - 2203
ISSN:
0263-5747
Resumen:
This paper is a continuation of a previous work of authors, Scaglia et al. [G. J. E. Scaglia, L. M. Quintero, V. Mut and F. Di Sciascio, ?Numerical methods based controller design for mobile robots,? Robotica 27(2), 269?279 (2009)]. A method is presented to choose the controller parameters such that, the values of the control actions do not exceed the maximum allowable and the tracking errors tend to zero. In addition, the analysis of the controller design parameters is included. The experimental results (laboratory experiments and a real world application) demonstrate the efficiency of the controller.
