INVESTIGADORES
SCAGLIA Gustavo Juan Eduardo
artículos
Título:
MOBILE ROBOT CONTROL BASED ON ROBUST CONTROL TECHNIQUES
Autor/es:
GUSTAVO J. E. SCAGLIA; VICENTE A. MUT; MARIO JORDAN; CARLOS CALVO; LUCIA QUINTERO MONTOYA
Revista:
Journal of Engineering Mathematics
Editorial:
Springer Netherlands
Referencias:
Año: 2009 vol. 63 p. 17 - 32
ISSN:
0022-0833
Resumen:
The control of a mobile robot using a linear model with uncertainty for design purposes is investigated. The uncertainty arises from the variation of the operation point of the mobile robot. Robust Control Theory is used for the controller design, which allows dealing with systems whose parameters may vary between certain bounds. The proposed controller has shown, in experimentation tests, an acceptable performance and an easy and simple practical implementation. Also, an application of the proposed controller to a leader-following problem is shown; in it, the relative position between robots is obtained through a laser.
