Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation-Reference-Cited by-同舟云学术

Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation

Published:2019-05-21 Issue:2 Volume:37 Page:607-624
ISSN:0265-0754
Container-title:IMA Journal of Mathematical Control and Information
language:en
Short-container-title:

Author:

Scaglia G J E¹²,Serrano M E¹²,Godoy S A¹²,Rossomando F¹²

Affiliation:

1. National Council for Scientific Research (CONICET) and the National University of San Juan, Argentine

2. Av. Libertador San Martín Oeste 1109, San Juan J5400ARL, Argentina

Abstract

Abstract This paper addresses trajectory tracking problem in mobile robots considering additive uncertainties. The controller design method is based on linear algebra theory. Numerical estimation techniques are used to estimate the uncertainty value in each sample time. The controller is calibrated by stochastic way using the Monte Carlo Experiment. In addition, the proof of convergence to zero of the tracking error is included. The theoretical results are validated by simulation and experimental tests. The controller proposed shows that it can be used to reduce the effect of additive uncertainties in the tracking error.

Funder

Consejo Nacional de Investigaciones Científicas y Técnicas

Publisher

Oxford University Press (OUP)

Subject

Applied Mathematics,Control and Optimization,Control and Systems Engineering

Link

http://academic.oup.com/imamci/article-pdf/37/2/607/33762533/dnz016.pdf

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