Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots |
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| Affiliation: | 1. Instituto de Ingeniería Quím ica, Universidad Nacional de San Juan, Av. Libertador San Martín Oeste 1109, San Juan J5400ARL, Argentina;2. Departamento de Automatización y Control Industrial, Facultad de Ingeniería Eléctrica y Electrónica, Escuela Politécnica Nacional, Quito, Ecuador;3. Departamento de Ingeniería de Sistemas y Automática, Universidad Politécnica de Valencia, España;1. University of Bayreuth, Mathematical Institute, Germany;2. Ruhr-University Bochum, Institute of Automation and Computer Control, Germany;1. Federal Technological University of Paraná, Av. Alberto Carazai, 86300-000 Cornélio Procópio, PR, Brazil;2. Department of Automation and Systems - Federal University of Santa Catarina, 88040-900 Florianópolis, SC, Brazil |
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| Abstract: | The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem of model errors is focused and the zero convergence of tracking errors under polynomial uncertainties is demonstrated. A simple scheme is obtained, which can be easily implemented. Simulation and experimental results are presented and discussed, showing the good performance of the controller. |
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| Keywords: | Tracking control Difference equations Uncertainties Non-linear multivariable control Mobile robot |
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