Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications

Autores
Scaglia, Gustavo Juan Eduardo; Serrano, Mario Emanuel; Rosales, Andrés; Albertos, Pedro
Año de publicación
2019
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina
Fil: Rosales, Andrés. Escuela Politécnica Nacional; Ecuador
Fil: Albertos, Pedro. Universidad Politécnica de Valencia; España
Materia
Tracking Control
Nonlinear Multivariable Systems
Robotic system
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:11336/117056
Acceder
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network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling Tracking Control Design in Nonlinear Multivariable Systems: Robotic ApplicationsScaglia, Gustavo Juan EduardoSerrano, Mario EmanuelRosales, AndrésAlbertos, PedroTracking ControlNonlinear Multivariable SystemsRobotic systemhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Rosales, Andrés. Escuela Politécnica Nacional; EcuadorFil: Albertos, Pedro. Universidad Politécnica de Valencia; EspañaHindawi Publishing Corporation2019-08info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/117056Scaglia, Gustavo Juan Eduardo; Serrano, Mario Emanuel; Rosales, Andrés; Albertos, Pedro; Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications; Hindawi Publishing Corporation; Mathematical Problems in Engineering; 2019; 8643515; 8-2019; 1-161024-123X1563-5147CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.hindawi.com/journals/mpe/2019/8643515/info:eu-repo/semantics/altIdentifier/doi/10.1155/2019/8643515info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-12-23T13:20:56Zoai:ri.conicet.gov.ar:11336/117056instacron: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:34982025-12-23 13:20:56.972CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications
title Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications
spellingShingle Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications
Scaglia, Gustavo Juan Eduardo
Tracking Control
Nonlinear Multivariable Systems
Robotic system
title_short Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications
title_full Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications
title_fullStr Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications
title_full_unstemmed Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications
title_sort Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications
dc.creator.none.fl_str_mv Scaglia, Gustavo Juan Eduardo
Serrano, Mario Emanuel
Rosales, Andrés
Albertos, Pedro
author Scaglia, Gustavo Juan Eduardo
author_facet Scaglia, Gustavo Juan Eduardo
Serrano, Mario Emanuel
Rosales, Andrés
Albertos, Pedro
author_role author
author2 Serrano, Mario Emanuel
Rosales, Andrés
Albertos, Pedro
author2_role author
author
author
dc.subject.none.fl_str_mv Tracking Control
Nonlinear Multivariable Systems
Robotic system
topic Tracking Control
Nonlinear Multivariable Systems
Robotic system
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 work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina
Fil: Rosales, Andrés. Escuela Politécnica Nacional; Ecuador
Fil: Albertos, Pedro. Universidad Politécnica de Valencia; España
description In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.
publishDate 2019
dc.date.none.fl_str_mv 2019-08
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/11336/117056
Scaglia, Gustavo Juan Eduardo; Serrano, Mario Emanuel; Rosales, Andrés; Albertos, Pedro; Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications; Hindawi Publishing Corporation; Mathematical Problems in Engineering; 2019; 8643515; 8-2019; 1-16
1024-123X
1563-5147
CONICET Digital
CONICET
url http://hdl.handle.net/11336/117056
identifier_str_mv Scaglia, Gustavo Juan Eduardo; Serrano, Mario Emanuel; Rosales, Andrés; Albertos, Pedro; Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications; Hindawi Publishing Corporation; Mathematical Problems in Engineering; 2019; 8643515; 8-2019; 1-16
1024-123X
1563-5147
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.hindawi.com/journals/mpe/2019/8643515/
info:eu-repo/semantics/altIdentifier/doi/10.1155/2019/8643515
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 Hindawi Publishing Corporation
publisher.none.fl_str_mv Hindawi Publishing Corporation
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 12.952241

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