INVESTIGADORES
SCAGLIA Gustavo Juan Eduardo
artículos
Título:
Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation
Autor/es:
SCAGLIA, G J E; SERRANO, M E; GODOY, S A; ROSSOMANDO, F
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.
