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

Scaglia, Gustavo; Rosales, Andrés; Quintero, Lucía; Mut, Vicente; Agarwal, Ravi P.

doi:10.1016/j.conengprac.2009.11.011

Cited by 69 publications

(67 citation statements)

References 28 publications

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“…Lee et al [46] carried out a sliding mode control by using an RFID sensor space to estimate the position of a WMR. Recently, Scaglia et al [47] suggested a linear interpolation based methodology to design control algorithms. It is assumed that the evolution of the system can be approximated by a linear interpolation.…”

Section: Kinematic Modelmentioning

confidence: 99%

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

et al. 2017

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The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR), actuators (DC motors), and power stage (DC/DC Buck power converters). The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ-Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.

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Section: Kinematic Modelmentioning

confidence: 99%

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

et al. 2017

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“…Some of the controllers designed so far are based only on the kinematics of the mobile robot, like the controllers presented in Künhe, Gomes, and Fetter (2005), Scaglia, Rosales, Quintero, Mut, and Agarwal (2010) and Wu, Chen, Wang, and Woo (1999). Other studies present the design of controllers that compensate for the robot dynamics.…”

Section: Introductionmentioning

confidence: 99%

Autonomous mobile robots navigation using RBF neural compensator

Rossomando

Soria

Carelli

2011

Control Engineering Practice

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“…In this work a trajectory-tracking controller, designed originally for robotic systems [24,25,26,27], is applied to a CSTR. A generic model of CSTR is used in which an irreversible and exothermic chemical reaction is carried out and the reactor works with a cooling jacket [5,15,28,29].…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking in a nonlinear CSTR. Controller design based on a linear algebra approach

Suvire¹,

Scaglia²,

Serrano³

et al. 2014

2014 IEEE Biennial Congress of Argentina (ARGENCON)

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This work presents a novel linear algebra methodology able to adequately design the controller algorithm for an efficient trajectory tracking of a continuous stirred tank reactor (CSTR). The mathematical model of the CSTR is represented by a system of coupled nonlinear differential equations, which is then approximated through a discrete statement of the problem. The discrete model is reorganized as a system of linear equations, which is used to find out a simple solution for the optimal control actions. An advantage of the present approach is that both the condition of negligible tracking error and the calculation of control actions are obtained by solving a system of linear equations. A Monte Carlo method is used for tuning the controller adjustment parameters. The simulation results show a good performance of the proposed control law.Resumen-Este trabajo presenta una novedosa metodología, basada en conceptos de álgebra lineal, capaz de diseñar un algoritmo de control para el seguimiento eficiente de trayectorias en un reactor tanque agitado continuo (CSTR). El modelo matemático del CSTR se representa mediante un sistema de ecuaciones diferenciales no lineales acopladas, y luego es aproximado mediante una formulación discreta del problema. El modelo discreto es reorganizado como un sistema de ecuaciones lineales, permitiendo encontrar una solución simple para las acciones óptimas de control. La ventaja del presente planteo es que tanto la condición de error de seguimiento nulo como el cálculo de las acciones de control, se obtienen resolviendo un sistema de ecuaciones lineales. Un método de Monte Carlo se utiliza para determinar las constantes de ajuste del controlador. Los resultados de simulación muestran un buen desempeño del lazo de control propuesto.

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

Cited by 69 publications

References 28 publications

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

Autonomous mobile robots navigation using RBF neural compensator

Trajectory tracking in a nonlinear CSTR. Controller design based on a linear algebra approach

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