A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation

Autores
Serrano, Mario Emanuel; Godoy Bordes, Sebastian Alejandro; Rómoli, Santiago; Scaglia, Gustavo Juan Eduardo
Año de publicación
2017
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In this paper the problem of trajectory tracking considers that the values of the control actions do not exceed a maximum allowable value and the zero convergence of tracking errors is demonstrated. The control law is based on a linear algebra approach. First, the desired trajectories of some state variables are determined by analyzing the conditions for a system of linear equations to have an exact solution. Therefore, the control signals are obtained by solving the system of linear equations. The optimal controller parameters are selected through nonlinear programming so as to prevent the saturation of the control actions. Experimental results are presented and discussed, demonstrating the controller's good performance. Finally, the performance of the proposed controller is compared with a fuzzy controller, and all the results are validated through experimental laboratory tests.
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Rómoli, Santiago. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Materia
Control Action Constraints
Control Design
Linear Algebra
Mobile Robots
Nonlinear Programming
Trajectory Tracking
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/72781
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/72781
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling A Numerical Approximation-Based Controller for Mobile Robots with Velocity LimitationSerrano, Mario EmanuelGodoy Bordes, Sebastian AlejandroRómoli, SantiagoScaglia, Gustavo Juan EduardoControl Action ConstraintsControl DesignLinear AlgebraMobile RobotsNonlinear ProgrammingTrajectory Trackinghttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In this paper the problem of trajectory tracking considers that the values of the control actions do not exceed a maximum allowable value and the zero convergence of tracking errors is demonstrated. The control law is based on a linear algebra approach. First, the desired trajectories of some state variables are determined by analyzing the conditions for a system of linear equations to have an exact solution. Therefore, the control signals are obtained by solving the system of linear equations. The optimal controller parameters are selected through nonlinear programming so as to prevent the saturation of the control actions. Experimental results are presented and discussed, demonstrating the controller's good performance. Finally, the performance of the proposed controller is compared with a fuzzy controller, and all the results are validated through experimental laboratory tests.Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Rómoli, Santiago. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaChinese Automatic Control Society2017-11info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/72781Serrano, Mario Emanuel; Godoy Bordes, Sebastian Alejandro; Rómoli, Santiago; Scaglia, Gustavo Juan Eduardo; A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation; Chinese Automatic Control Society; Asian Journal of Control; 19; 6; 11-2017; 2165-21771561-8625CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1002/asjc.1522info:eu-repo/semantics/altIdentifier/url/https://onlinelibrary.wiley.com/doi/abs/10.1002/asjc.1522info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-10T13:03:57Zoai:ri.conicet.gov.ar:11336/72781instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-10 13:03:57.429CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation
title A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation
spellingShingle A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation
Serrano, Mario Emanuel
Control Action Constraints
Control Design
Linear Algebra
Mobile Robots
Nonlinear Programming
Trajectory Tracking
title_short A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation
title_full A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation
title_fullStr A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation
title_full_unstemmed A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation
title_sort A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation
dc.creator.none.fl_str_mv Serrano, Mario Emanuel
Godoy Bordes, Sebastian Alejandro
Rómoli, Santiago
Scaglia, Gustavo Juan Eduardo
author Serrano, Mario Emanuel
author_facet Serrano, Mario Emanuel
Godoy Bordes, Sebastian Alejandro
Rómoli, Santiago
Scaglia, Gustavo Juan Eduardo
author_role author
author2 Godoy Bordes, Sebastian Alejandro
Rómoli, Santiago
Scaglia, Gustavo Juan Eduardo
author2_role author
author
author
dc.subject.none.fl_str_mv Control Action Constraints
Control Design
Linear Algebra
Mobile Robots
Nonlinear Programming
Trajectory Tracking
topic Control Action Constraints
Control Design
Linear Algebra
Mobile Robots
Nonlinear Programming
Trajectory Tracking
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv In this paper the problem of trajectory tracking considers that the values of the control actions do not exceed a maximum allowable value and the zero convergence of tracking errors is demonstrated. The control law is based on a linear algebra approach. First, the desired trajectories of some state variables are determined by analyzing the conditions for a system of linear equations to have an exact solution. Therefore, the control signals are obtained by solving the system of linear equations. The optimal controller parameters are selected through nonlinear programming so as to prevent the saturation of the control actions. Experimental results are presented and discussed, demonstrating the controller's good performance. Finally, the performance of the proposed controller is compared with a fuzzy controller, and all the results are validated through experimental laboratory tests.
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Rómoli, Santiago. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
description In this paper the problem of trajectory tracking considers that the values of the control actions do not exceed a maximum allowable value and the zero convergence of tracking errors is demonstrated. The control law is based on a linear algebra approach. First, the desired trajectories of some state variables are determined by analyzing the conditions for a system of linear equations to have an exact solution. Therefore, the control signals are obtained by solving the system of linear equations. The optimal controller parameters are selected through nonlinear programming so as to prevent the saturation of the control actions. Experimental results are presented and discussed, demonstrating the controller's good performance. Finally, the performance of the proposed controller is compared with a fuzzy controller, and all the results are validated through experimental laboratory tests.
publishDate 2017
dc.date.none.fl_str_mv 2017-11
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/72781
Serrano, Mario Emanuel; Godoy Bordes, Sebastian Alejandro; Rómoli, Santiago; Scaglia, Gustavo Juan Eduardo; A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation; Chinese Automatic Control Society; Asian Journal of Control; 19; 6; 11-2017; 2165-2177
1561-8625
CONICET Digital
CONICET
url http://hdl.handle.net/11336/72781
identifier_str_mv Serrano, Mario Emanuel; Godoy Bordes, Sebastian Alejandro; Rómoli, Santiago; Scaglia, Gustavo Juan Eduardo; A Numerical Approximation-Based Controller for Mobile Robots with Velocity Limitation; Chinese Automatic Control Society; Asian Journal of Control; 19; 6; 11-2017; 2165-2177
1561-8625
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1002/asjc.1522
info:eu-repo/semantics/altIdentifier/url/https://onlinelibrary.wiley.com/doi/abs/10.1002/asjc.1522
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Chinese Automatic Control Society
publisher.none.fl_str_mv Chinese Automatic Control Society
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1842980118132162560
score 12.993085

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