A PROPOSAL FOR TRACKING CONTROL

SCAGLIA GUSTAVO; MUT VICENTE; POSTIGO JOSÉ F.; KUCHEN BENJAMIN

Barcelona/Spain

Congreso; ICINCO 2005; 2005

International Conference on Informatics in Control, Automation and Robotics

This work presents a methodology to design a control algorithm that allows a system to follow a pre-established trajectory. The methodology is simple and can be extended to other control systems. Three systems are analyzed. First, a non-linear system, like that of a pendulum under friction forces; second, a system of non-minimum phase, where a general problem is considered and finally, a non-linear multivariable system, like that of a mobile robot where the objective is the trajectory tracking control. Simulation results are shown and discussed for the three cases and, for the mobile robot, experimental results demonstrate the good performance of the proposed methodology.