A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains

Autores
Resende, Cassius Z.; Carelli Albarracin, Ricardo Oscar; Sarcinelli Filho, Mário
Año de publicación
2013
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper proposes a fuzzy controller for trajectory tracking with unicycle-like mobile robots. Such controller uses two Takagi–Sugeno (TS) fuzzy blocks to generate its gains. The controller is able to limit the velocity and control signals of the robot, and to reduce the errors arising from its dynamics as well. The stability of the developed controller is proven, using the theory of Lyapunov. Experimental results show that the use of the proposed controller is attractive in comparison with the use of a controller with fixed saturation function.
Fil: Resende, Cassius Z.. Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Sarcinelli Filho, Mário. Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil
Materia
Robotics
Mobile Robots
Fuzzy Control
Nonlinear Control Systems
Autonomous Vehicles
Takagi–Sugeno Model
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/3857
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/3857
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy GainsResende, Cassius Z.Carelli Albarracin, Ricardo OscarSarcinelli Filho, MárioRoboticsMobile RobotsFuzzy ControlNonlinear Control SystemsAutonomous VehiclesTakagi–Sugeno Modelhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper proposes a fuzzy controller for trajectory tracking with unicycle-like mobile robots. Such controller uses two Takagi–Sugeno (TS) fuzzy blocks to generate its gains. The controller is able to limit the velocity and control signals of the robot, and to reduce the errors arising from its dynamics as well. The stability of the developed controller is proven, using the theory of Lyapunov. Experimental results show that the use of the proposed controller is attractive in comparison with the use of a controller with fixed saturation function.Fil: Resende, Cassius Z.. Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; BrasilFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Sarcinelli Filho, Mário. Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; BrasilElsevier2013-10info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/3857Resende, Cassius Z.; Carelli Albarracin, Ricardo Oscar; Sarcinelli Filho, Mário; A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains; Elsevier; Control Engineering Practice; 21; 10; 10-2013; 1302-13090967-0661enginfo:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0967066113001056info:eu-repo/semantics/altIdentifier/issn/0967-0661info:eu-repo/semantics/altIdentifier/doi/10.1016/j.conengprac.2013.05.012info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-nd/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-10T13:14:26Zoai:ri.conicet.gov.ar:11336/3857instacron: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 13:14:26.807CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains
title A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains
spellingShingle A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains
Resende, Cassius Z.
Robotics
Mobile Robots
Fuzzy Control
Nonlinear Control Systems
Autonomous Vehicles
Takagi–Sugeno Model
title_short A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains
title_full A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains
title_fullStr A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains
title_full_unstemmed A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains
title_sort A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains
dc.creator.none.fl_str_mv Resende, Cassius Z.
Carelli Albarracin, Ricardo Oscar
Sarcinelli Filho, Mário
author Resende, Cassius Z.
author_facet Resende, Cassius Z.
Carelli Albarracin, Ricardo Oscar
Sarcinelli Filho, Mário
author_role author
author2 Carelli Albarracin, Ricardo Oscar
Sarcinelli Filho, Mário
author2_role author
author
dc.subject.none.fl_str_mv Robotics
Mobile Robots
Fuzzy Control
Nonlinear Control Systems
Autonomous Vehicles
Takagi–Sugeno Model
topic Robotics
Mobile Robots
Fuzzy Control
Nonlinear Control Systems
Autonomous Vehicles
Takagi–Sugeno Model
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 paper proposes a fuzzy controller for trajectory tracking with unicycle-like mobile robots. Such controller uses two Takagi–Sugeno (TS) fuzzy blocks to generate its gains. The controller is able to limit the velocity and control signals of the robot, and to reduce the errors arising from its dynamics as well. The stability of the developed controller is proven, using the theory of Lyapunov. Experimental results show that the use of the proposed controller is attractive in comparison with the use of a controller with fixed saturation function.
Fil: Resende, Cassius Z.. Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Sarcinelli Filho, Mário. Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil
description This paper proposes a fuzzy controller for trajectory tracking with unicycle-like mobile robots. Such controller uses two Takagi–Sugeno (TS) fuzzy blocks to generate its gains. The controller is able to limit the velocity and control signals of the robot, and to reduce the errors arising from its dynamics as well. The stability of the developed controller is proven, using the theory of Lyapunov. Experimental results show that the use of the proposed controller is attractive in comparison with the use of a controller with fixed saturation function.
publishDate 2013
dc.date.none.fl_str_mv 2013-10
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/11336/3857
Resende, Cassius Z.; Carelli Albarracin, Ricardo Oscar; Sarcinelli Filho, Mário; A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains; Elsevier; Control Engineering Practice; 21; 10; 10-2013; 1302-1309
0967-0661
url http://hdl.handle.net/11336/3857
identifier_str_mv Resende, Cassius Z.; Carelli Albarracin, Ricardo Oscar; Sarcinelli Filho, Mário; A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains; Elsevier; Control Engineering Practice; 21; 10; 10-2013; 1302-1309
0967-0661
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0967066113001056
info:eu-repo/semantics/altIdentifier/issn/0967-0661
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.conengprac.2013.05.012
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
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
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score 12.993085

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