DYNAMIC CONTROL BY USING NUMERICAL METHODS FOR MOBILE ROBOTS

ANDRÉS ROSALES; GUSTAVO SCAGLIA; VICENTE MUT; FERNANDO DI SCIASCIO; EMANUEL SLAWIÑSKI

Río Gallegos Santa Cruz Argentina

Congreso; XII RPIC Reunion de Trabajo En Procesamiento de la Información y Control; 2007

In this paper a model based controller for mobile robots by using numerical methods is developed. The system is approximated using numerical methods; next, the linear equations theory is used to compute the control signals and to obtain the minimal error conditions. The dynamic model of the PIONNER 3DX mobile robot, including external forces and slides of the wheels, is considered. Experimental results show an optimal performance (according to minimal squares approach) with a different design methodology for this robotics area.