Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots

Abstract

SUMMARYThis paper is a continuation of a previous work of authors, Scaglia et al. [G. J. E. Scaglia, L. M. Quintero, V. Mut and F. Di Sciascio, “Numerical methods based controller design for mobile robots,” Robotica27(2), 269–279 (2009)]. A method is presented to choose the controller parameters such that, the values of the control actions do not exceed the maximum allowable and the tracking errors tend to zero. In addition, the analysis of the controller design parameters is included. The experimental results (laboratory experiments and a real world application) demonstrate the efficiency of the controller.

A Numerical Approximation‐Based Controller for Mobile Robots with Velocity Limitation

“…In order to do so, the control law proposed in (12) with a simple saturator and two controllers previously published in the scientific literature were implemented for comparison purposes on the mobile robot Pioneer 3AT. The controllers implemented for comparison are the following: The controller proposed in this paper when its parameters are chosen with nonlinear programming, C1 in the sequel (methodology proposed in this paper). The controller proposed in this paper when its parameters are fixed, and the control actions are limited with a simple saturator, C2 in the sequel. A non‐linear trajectory tracking strategy developed by , C3 in the sequel. The controller developed in , C4 in the sequel. …”

“…Next, the linear velocity (V) is analyzed. Considering (17), and taking the limit of V when k v → 1ˉ, in (12), (18) results…”

“…• The controller proposed in this paper when its parameters are fixed, and the control actions are limited with a simple saturator, C2 in the sequel. • A non-linear trajectory tracking strategy developed by [18], C3 in the sequel. • The controller developed in [3], C4 in the sequel.…”

“…The proposed method ensures the convergence to zero of the tracking errors and prevents controller saturation. We also include a comparison analysis of our approach with two other trajectory tracking controllers previously published in the literature . The proposed controller has lower tracking errors and presents slight oscillations, which minimizes the maneuverability space needed by the vehicle.…”

Higher-Order Super-Twisting Control for Trajectory Tracking Control of Skid-Steered Mobile Robot

“…A modified Proportional-Integral-Derivative (PID) controller has been developed in [4]. In [5], [6], the authors address a method for finding controller gains according to actuator saturation limits. This method is prone to steady state errors, and it leaks for robustness against uncertainties.…”