Linear Interpolation Based Controller Design for Trajectory Tracking under Uncertainties: Application to Mobile Robots

GUSTAVO J. E. SCAGLIA; MARIO EMANUEL SERRANO; ANDRES ROSALES; PEDRO ALBERTOS

CONTROL ENGINEERING PRACTICE

PERGAMON-ELSEVIER SCIENCE LTD

Lugar: Amsterdam; Año: 2015 vol. 45 p. 123 - 132

0967-0661

The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem of model errors is focused and the zero convergence of tracking errors under polynomial uncertainties is demonstrated. A simple scheme is obtained, which can be easily implemented. Simulation and experimental results are presented and discussed, showing the good performance of the controller.