INVESTIGADORES
SCAGLIA Gustavo Juan Eduardo
artículos
Título:
A Linear-Interpolation-based Controller Design for Path Tracking of Mobile Robots
Autor/es:
GUSTAVO SCAGLIA; ANDRÉS ROSALES; LUCIA QUINTERO; MUT VICENTE; RAVI AGARWAL
Revista:
CONTROL ENGINEERING PRACTICE
Editorial:
ELSEVIER
Referencias:
Año: 2010 vol. 18 p. 318 - 329
ISSN:
0967-0661
Resumen:
This work presents a novel linear interpolation based methodology to design control algorithms for the trajectory tracking of mobile robotic systems. Particularly, a typical non-linear multivariable system ? a mobile robot ? is analyzed, for which a control objective for trajectory tracking, positioning and leader following is aimed. The methodology is simple and can be applied to the design of a large class of control systems. Simulation and experimental results are shown and discussed. Finally, simulation and experimental results demonstrate the good performance of the proposed methodology.
