A linear algebra controller based on reduced order models applied to trajectory tracking for mobile robots: an experimental validation

LEONARDO GUEVARA; CAMACHO OSCAR; ROSALES ANDRES; JAVIER GUEVARA; GUSTAVO SCAGLIA

International Journal of Automation and Control

Inderscience Publishers

Lugar: Olney; Año: 2019 vol. 13

1740-7516

Abstract: A linear algebra controller (LACr) based on an empirical linearmodel of the system is presented in this paper. The controller design is basedon a first order plus dead time (FOPDT) model and can be tuned using thecharacteristic parameters obtained from the reaction curve. In previous studies,the versatility of this proposed controller was tested by simulations, proving bean alternative to control many kinds of processes. In this paper, the proposedcontroller is implemented for trajectory tracking using a real mobile robotplatform. The performance results are compared against a PI controller usingthe ISE performance index to measure it.