Author:
Serrano Mario Emanuel,Scaglia Gustavo Juan Eduardo,Cheein Fernando Auat,Mut Vicente,Ortiz Oscar Alberto
Abstract
SUMMARYThis paper is a continuation of a previous work of authors, Scagliaet al. [G. J. E. Scaglia, L. M. Quintero, V. Mut and F. Di Sciascio, “Numerical methods based controller design for mobile robots,”Robotica27(2), 269–279 (2009)]. 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.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference22 articles.
1. A Smith-predictor-based generalised predictive controller for mobile robot path-tracking
2. S. Roth and P. Batavia , “Evaluating path tracker performance for outdoor mobile robots,” Automation Technology for Off-Road Equipment, July, 2002. Retrieved on December 4, 2012, from http://www.ri.cmu.edu/publication_view.html?pub_id=3908.
3. Stable contour-following control of wheeled mobile robots
4. Nonlinear Programming
5. E. O. Omojokun , Trust Region Algorithms for Optimization with Nonlinear Equality and Inequality Constraints Ph.D. Thesis (Boulder, CO: University of Colorado Boulder, 1989).
Cited by
16 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献