A linear-interpolation-based controller design for trajectory tracking of mobile robots

Autores
Scaglia, Gustavo Juan Eduardo; Rosales, Andrés; Quintero, Lucia; Mut, Vicente; Agarwal, Ravi
Año de publicación
2010
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This work presents a novel linear interpolation based methodology to design control algorithms for the trajectory tracking of mobile robotic systems. Particularly, a typical nonlinear multivariable system-a mobile robot-is analysed. The methodology is simple and can be applied to the design of a large class of control systems. Simulation and experimental results are presented and discussed, demonstrating the good performance of the proposed methodology.
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. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Rosales, Andrés. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Quintero, Lucia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Agarwal, Ravi. Florida Institute of Technology; Estados Unidos
Materia
CONTROL SYSTEM DESIGN
MOBILE ROBOT
NONLINEAR MODEL
NUMERICAL METHODS
TRACKING TRAJECTORY CONTROL
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:11336/98950
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/98950
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling A linear-interpolation-based controller design for trajectory tracking of mobile robotsScaglia, Gustavo Juan EduardoRosales, AndrésQuintero, LuciaMut, VicenteAgarwal, RaviCONTROL SYSTEM DESIGNMOBILE ROBOTNONLINEAR MODELNUMERICAL METHODSTRACKING TRAJECTORY CONTROLhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This work presents a novel linear interpolation based methodology to design control algorithms for the trajectory tracking of mobile robotic systems. Particularly, a typical nonlinear multivariable system-a mobile robot-is analysed. The methodology is simple and can be applied to the design of a large class of control systems. Simulation and experimental results are presented and discussed, demonstrating the good performance of the proposed methodology.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. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Rosales, Andrés. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Quintero, Lucia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Agarwal, Ravi. Florida Institute of Technology; Estados UnidosPergamon-Elsevier Science Ltd2010-03info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/98950Scaglia, Gustavo Juan Eduardo; Rosales, Andrés; Quintero, Lucia; Mut, Vicente; Agarwal, Ravi; A linear-interpolation-based controller design for trajectory tracking of mobile robots; Pergamon-Elsevier Science Ltd; Control Engineering Practice; 18; 3; 3-2010; 318-3290967-0661CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0967066109002275info:eu-repo/semantics/altIdentifier/doi/10.1016/j.conengprac.2009.11.011info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-29T12:36:14Zoai:ri.conicet.gov.ar:11336/98950instacron: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:34982025-10-29 12:36:14.9CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A linear-interpolation-based controller design for trajectory tracking of mobile robots
title A linear-interpolation-based controller design for trajectory tracking of mobile robots
spellingShingle A linear-interpolation-based controller design for trajectory tracking of mobile robots
Scaglia, Gustavo Juan Eduardo
CONTROL SYSTEM DESIGN
MOBILE ROBOT
NONLINEAR MODEL
NUMERICAL METHODS
TRACKING TRAJECTORY CONTROL
title_short A linear-interpolation-based controller design for trajectory tracking of mobile robots
title_full A linear-interpolation-based controller design for trajectory tracking of mobile robots
title_fullStr A linear-interpolation-based controller design for trajectory tracking of mobile robots
title_full_unstemmed A linear-interpolation-based controller design for trajectory tracking of mobile robots
title_sort A linear-interpolation-based controller design for trajectory tracking of mobile robots
dc.creator.none.fl_str_mv Scaglia, Gustavo Juan Eduardo
Rosales, Andrés
Quintero, Lucia
Mut, Vicente
Agarwal, Ravi
author Scaglia, Gustavo Juan Eduardo
author_facet Scaglia, Gustavo Juan Eduardo
Rosales, Andrés
Quintero, Lucia
Mut, Vicente
Agarwal, Ravi
author_role author
author2 Rosales, Andrés
Quintero, Lucia
Mut, Vicente
Agarwal, Ravi
author2_role author
author
author
author
dc.subject.none.fl_str_mv CONTROL SYSTEM DESIGN
MOBILE ROBOT
NONLINEAR MODEL
NUMERICAL METHODS
TRACKING TRAJECTORY CONTROL
topic CONTROL SYSTEM DESIGN
MOBILE ROBOT
NONLINEAR MODEL
NUMERICAL METHODS
TRACKING TRAJECTORY CONTROL
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This work presents a novel linear interpolation based methodology to design control algorithms for the trajectory tracking of mobile robotic systems. Particularly, a typical nonlinear multivariable system-a mobile robot-is analysed. The methodology is simple and can be applied to the design of a large class of control systems. Simulation and experimental results are presented and discussed, demonstrating the good performance of the proposed methodology.
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. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Rosales, Andrés. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Quintero, Lucia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Agarwal, Ravi. Florida Institute of Technology; Estados Unidos
description This work presents a novel linear interpolation based methodology to design control algorithms for the trajectory tracking of mobile robotic systems. Particularly, a typical nonlinear multivariable system-a mobile robot-is analysed. The methodology is simple and can be applied to the design of a large class of control systems. Simulation and experimental results are presented and discussed, demonstrating the good performance of the proposed methodology.
publishDate 2010
dc.date.none.fl_str_mv 2010-03
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/11336/98950
Scaglia, Gustavo Juan Eduardo; Rosales, Andrés; Quintero, Lucia; Mut, Vicente; Agarwal, Ravi; A linear-interpolation-based controller design for trajectory tracking of mobile robots; Pergamon-Elsevier Science Ltd; Control Engineering Practice; 18; 3; 3-2010; 318-329
0967-0661
CONICET Digital
CONICET
url http://hdl.handle.net/11336/98950
identifier_str_mv Scaglia, Gustavo Juan Eduardo; Rosales, Andrés; Quintero, Lucia; Mut, Vicente; Agarwal, Ravi; A linear-interpolation-based controller design for trajectory tracking of mobile robots; Pergamon-Elsevier Science Ltd; Control Engineering Practice; 18; 3; 3-2010; 318-329
0967-0661
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0967066109002275
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.conengprac.2009.11.011
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 Pergamon-Elsevier Science Ltd
publisher.none.fl_str_mv Pergamon-Elsevier Science Ltd
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_ 1847427336875540480
score 13.10058

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