INVESTIGADORES
SCAGLIA Gustavo Juan Eduardo
artículos
Título:
Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications. Q2 (2019)
Autor/es:
SCAGLIA, GUSTAVO; SERRANO, EMANUEL; ROSALES, ANDRES; ALBERTOS, PEDRO
Revista:
MATHEMATICAL PROBLEMS IN ENGINEERING
Editorial:
HINDAWI PUBLISHING CORPORATION
Referencias:
Año: 2019 vol. 2019
ISSN:
1024-123X
Resumen:
In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.
