INVESTIGADORES
SERRANO Mario Emanuel
artículos
Título:
Trajectory Tracking Controller Design with Constrains in the Control Signals: a case study in mobile robots.
Autor/es:
MARIO E. SERRANO; GUSTAVO J. E. SCAGLIA; FERNANDO AUAT CHEEIN; VICENTE A. MUT; OSCAR ALBERTO ORTIZ
Revista:
ROBOTICA
Editorial:
CAMBRIDGE UNIV PRESS
Referencias:
Lugar: Cambridge; Año: 2014 p. 1 - 18
ISSN:
0263-5747
Resumen:
This paper is a continuation of a previous work of the authors, Scaglia et al., 1. A method is presented to choose the controller parameters such that, the values of the control actions do not exceed the maximum allowable and the tracking errors tend to zero. In addition, the analysis of the controller design parameters is included. The experimental results (laboratory experiments and a real world application) demonstrate the efficiency of the controller.
