Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots

Autores
Moreno, Javier; Slawiñski, Emanuel; Chicaiza Claudio, Fernando Alfonso; Rossomando, Francisco Guido; Mut, Vicente Antonio; Morán, Marco A.
Año de publicación
2023
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems. By assuming that the desired velocity in the body frame is persistently exciting, the uniform bound of the tracking error in earth coordinates is ensured. A simulation study using practical mobile robot parameters shows the viability of the introduced approach. In addition, two known trajectory tracking controllers are simulated in order to compare the performance of the proposed technique. Better tracking accuracy is obtained with the proposed control approach, even if uncertainties in the knowledge of the friction coefficients are presented.
Fil: Moreno, Javier. INSTITUTO POLITÉCNICO NACIONAL (IPN);
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Chicaiza Claudio, Fernando Alfonso. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Morán, Marco A.. INSTITUTO POLITÉCNICO NACIONAL (IPN);
Materia
INPUT–OUTPUT FEEDBACK LINEARIZATION
MOTION CONTROL
NONLINEAR SYSTEMS
SKID-STEERING MOBILE ROBOT
TRACKING ERROR
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/227331
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile RobotsMoreno, JavierSlawiñski, EmanuelChicaiza Claudio, Fernando AlfonsoRossomando, Francisco GuidoMut, Vicente AntonioMorán, Marco A.INPUT–OUTPUT FEEDBACK LINEARIZATIONMOTION CONTROLNONLINEAR SYSTEMSSKID-STEERING MOBILE ROBOTTRACKING ERRORhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems. By assuming that the desired velocity in the body frame is persistently exciting, the uniform bound of the tracking error in earth coordinates is ensured. A simulation study using practical mobile robot parameters shows the viability of the introduced approach. In addition, two known trajectory tracking controllers are simulated in order to compare the performance of the proposed technique. Better tracking accuracy is obtained with the proposed control approach, even if uncertainties in the knowledge of the friction coefficients are presented.Fil: Moreno, Javier. INSTITUTO POLITÉCNICO NACIONAL (IPN);Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Chicaiza Claudio, Fernando Alfonso. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Morán, Marco A.. INSTITUTO POLITÉCNICO NACIONAL (IPN);MDPI2023-10info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/227331Moreno, Javier; Slawiñski, Emanuel; Chicaiza Claudio, Fernando Alfonso; Rossomando, Francisco Guido; Mut, Vicente Antonio; et al.; Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots; MDPI; Machines; 11; 11; 10-2023; 1-242075-1702CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.mdpi.com/2075-1702/11/11/988info:eu-repo/semantics/altIdentifier/doi/10.3390/machines11110988info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-22T12:02:25Zoai:ri.conicet.gov.ar:11336/227331instacron: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:34982025-10-22 12:02:25.92CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots
title Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots
spellingShingle Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots
Moreno, Javier
INPUT–OUTPUT FEEDBACK LINEARIZATION
MOTION CONTROL
NONLINEAR SYSTEMS
SKID-STEERING MOBILE ROBOT
TRACKING ERROR
title_short Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots
title_full Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots
title_fullStr Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots
title_full_unstemmed Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots
title_sort Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots
dc.creator.none.fl_str_mv Moreno, Javier
Slawiñski, Emanuel
Chicaiza Claudio, Fernando Alfonso
Rossomando, Francisco Guido
Mut, Vicente Antonio
Morán, Marco A.
author Moreno, Javier
author_facet Moreno, Javier
Slawiñski, Emanuel
Chicaiza Claudio, Fernando Alfonso
Rossomando, Francisco Guido
Mut, Vicente Antonio
Morán, Marco A.
author_role author
author2 Slawiñski, Emanuel
Chicaiza Claudio, Fernando Alfonso
Rossomando, Francisco Guido
Mut, Vicente Antonio
Morán, Marco A.
author2_role author
author
author
author
author
dc.subject.none.fl_str_mv INPUT–OUTPUT FEEDBACK LINEARIZATION
MOTION CONTROL
NONLINEAR SYSTEMS
SKID-STEERING MOBILE ROBOT
TRACKING ERROR
topic INPUT–OUTPUT FEEDBACK LINEARIZATION
MOTION CONTROL
NONLINEAR SYSTEMS
SKID-STEERING MOBILE ROBOT
TRACKING ERROR
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 manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems. By assuming that the desired velocity in the body frame is persistently exciting, the uniform bound of the tracking error in earth coordinates is ensured. A simulation study using practical mobile robot parameters shows the viability of the introduced approach. In addition, two known trajectory tracking controllers are simulated in order to compare the performance of the proposed technique. Better tracking accuracy is obtained with the proposed control approach, even if uncertainties in the knowledge of the friction coefficients are presented.
Fil: Moreno, Javier. INSTITUTO POLITÉCNICO NACIONAL (IPN);
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Chicaiza Claudio, Fernando Alfonso. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Rossomando, Francisco Guido. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Morán, Marco A.. INSTITUTO POLITÉCNICO NACIONAL (IPN);
description This manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems. By assuming that the desired velocity in the body frame is persistently exciting, the uniform bound of the tracking error in earth coordinates is ensured. A simulation study using practical mobile robot parameters shows the viability of the introduced approach. In addition, two known trajectory tracking controllers are simulated in order to compare the performance of the proposed technique. Better tracking accuracy is obtained with the proposed control approach, even if uncertainties in the knowledge of the friction coefficients are presented.
publishDate 2023
dc.date.none.fl_str_mv 2023-10
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/11336/227331
Moreno, Javier; Slawiñski, Emanuel; Chicaiza Claudio, Fernando Alfonso; Rossomando, Francisco Guido; Mut, Vicente Antonio; et al.; Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots; MDPI; Machines; 11; 11; 10-2023; 1-24
2075-1702
CONICET Digital
CONICET
url http://hdl.handle.net/11336/227331
identifier_str_mv Moreno, Javier; Slawiñski, Emanuel; Chicaiza Claudio, Fernando Alfonso; Rossomando, Francisco Guido; Mut, Vicente Antonio; et al.; Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots; MDPI; Machines; 11; 11; 10-2023; 1-24
2075-1702
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.mdpi.com/2075-1702/11/11/988
info:eu-repo/semantics/altIdentifier/doi/10.3390/machines11110988
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
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_ 1846782360123604992
score 12.982451

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