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control system design

Robotica (1)

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Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots
Mario Emanuel Serrano, Gustavo Juan Eduardo Scaglia, Fernando Auat Cheein, Vicente Mut, Oscar Alberto Ortiz
Journal:

Robotica / Volume 33 / Issue 10 / December 2015

Published online by Cambridge University Press:

29 May 2014, pp. 2186-2203
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This paper is a continuation of a previous work of authors, Scaglia et 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.