A nonlinear trajectory tracking controller for mobile robots with velocity limitation via parameters regulation

MARIO EMANUEL SERRANO; SEBASTIAN A. GODOY; VICENTE A. MUT; OSCAR A. ORTIZ; GUSTAVO J. E. SCAGLIA

ROBOTICA

CAMBRIDGE UNIV PRESS

Lugar: Cambridge; Año: 2015

0263-5747

This paper addresses the problem of trajectory tracking control in mobile robots under velocity limitations. Following the results reported in ref. [1], the problem of trajectory tracking considering control actions constraint is focused and the zero convergence of the tracking errors is demonstrated. In this work, the original methodology is expanded considering a controller that depends not only on the position but also on the velocity. A simple scheme is obtained, which can be easily implemented in others controllers of the literature. Experimental results are presented and discussed, demonstrating the good performance of the controller.