How to select the electronic target for robot trajectory tracking Lyapunov‐based controllers: Comparative study and experimental results

Abstract

AbstractThe proper sizing of the electronic target to implement complex controllers is barely tackled at engineering schools. An incorrect selection leads, at best, to inefficient use of resources and unnecessarily high costs. In this work, the criteria to implement the electronic Lyapunov‐based controller for non‐linear trajectory tracking of a P3‐DX robot is focused on. After comparing pros and cons of the four alternatives, test results are shown with two of them: NUC8i5INH microcomputer and STM32F767 single chip board.