Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots

Autores
Scaglia, Gustavo Juan Eduardo; Serrano, Mariio Emanuel; Rosales, Andrés; Albertos, Pedro
Año de publicación
2015
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem of model errors is focused and the zero convergence of tracking errors under polynomial uncertainties is demonstrated. A simple scheme is obtained, which can be easily implemented. Simulation and experimental results are presented and discussed, showing the good performance of the controller.
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Escuela Politécnica Nacional; Ecuador. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Serrano, Mariio Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina
Fil: Rosales, Andrés. Escuela Politécnica Nacional; Ecuador
Fil: Albertos, Pedro. Escuela Politécnica Nacional; Ecuador. Universidad Politécnica de Valencia; España
Materia
Tracking Control
Difference Equations
Uncertainties
Non-Linear Multivariablecontrol
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:11336/43405
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/43405
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robotsScaglia, Gustavo Juan EduardoSerrano, Mariio EmanuelRosales, AndrésAlbertos, PedroTracking ControlDifference EquationsUncertaintiesNon-Linear Multivariablecontrolhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem of model errors is focused and the zero convergence of tracking errors under polynomial uncertainties is demonstrated. A simple scheme is obtained, which can be easily implemented. Simulation and experimental results are presented and discussed, showing the good performance of the controller.Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Escuela Politécnica Nacional; Ecuador. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Serrano, Mariio Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaFil: Rosales, Andrés. Escuela Politécnica Nacional; EcuadorFil: Albertos, Pedro. Escuela Politécnica Nacional; Ecuador. Universidad Politécnica de Valencia; EspañaPergamon-Elsevier Science Ltd2015-12info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/43405Scaglia, Gustavo Juan Eduardo; Serrano, Mariio Emanuel; Rosales, Andrés; Albertos, Pedro; Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots; Pergamon-Elsevier Science Ltd; Control Engineering Practice; 45; 12-2015; 123-1320967-0661CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0967066115300216info:eu-repo/semantics/altIdentifier/doi/10.1016/j.conengprac.2015.09.010info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-nd/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:26:02Zoai:ri.conicet.gov.ar:11336/43405instacron: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:34982025-09-29 10:26:02.352CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots
title Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots
spellingShingle Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots
Scaglia, Gustavo Juan Eduardo
Tracking Control
Difference Equations
Uncertainties
Non-Linear Multivariablecontrol
title_short Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots
title_full Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots
title_fullStr Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots
title_full_unstemmed Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots
title_sort Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots
dc.creator.none.fl_str_mv Scaglia, Gustavo Juan Eduardo
Serrano, Mariio Emanuel
Rosales, Andrés
Albertos, Pedro
author Scaglia, Gustavo Juan Eduardo
author_facet Scaglia, Gustavo Juan Eduardo
Serrano, Mariio Emanuel
Rosales, Andrés
Albertos, Pedro
author_role author
author2 Serrano, Mariio Emanuel
Rosales, Andrés
Albertos, Pedro
author2_role author
author
author
dc.subject.none.fl_str_mv Tracking Control
Difference Equations
Uncertainties
Non-Linear Multivariablecontrol
topic Tracking Control
Difference Equations
Uncertainties
Non-Linear Multivariablecontrol
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem of model errors is focused and the zero convergence of tracking errors under polynomial uncertainties is demonstrated. A simple scheme is obtained, which can be easily implemented. Simulation and experimental results are presented and discussed, showing the good performance of the controller.
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Escuela Politécnica Nacional; Ecuador. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Serrano, Mariio Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina
Fil: Rosales, Andrés. Escuela Politécnica Nacional; Ecuador
Fil: Albertos, Pedro. Escuela Politécnica Nacional; Ecuador. Universidad Politécnica de Valencia; España
description The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem of model errors is focused and the zero convergence of tracking errors under polynomial uncertainties is demonstrated. A simple scheme is obtained, which can be easily implemented. Simulation and experimental results are presented and discussed, showing the good performance of the controller.
publishDate 2015
dc.date.none.fl_str_mv 2015-12
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/11336/43405
Scaglia, Gustavo Juan Eduardo; Serrano, Mariio Emanuel; Rosales, Andrés; Albertos, Pedro; Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots; Pergamon-Elsevier Science Ltd; Control Engineering Practice; 45; 12-2015; 123-132
0967-0661
CONICET Digital
CONICET
url http://hdl.handle.net/11336/43405
identifier_str_mv Scaglia, Gustavo Juan Eduardo; Serrano, Mariio Emanuel; Rosales, Andrés; Albertos, Pedro; Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots; Pergamon-Elsevier Science Ltd; Control Engineering Practice; 45; 12-2015; 123-132
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/http://www.sciencedirect.com/science/article/pii/S0967066115300216
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.conengprac.2015.09.010
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 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_ 1844614260136607744
score 13.070432

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