Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation

被引：2
|
作者：
Scaglia, G. J. E. [1 ,2 ]
Serrano, M. E. [1 ,2 ]
Godoy, S. A. [1 ,2 ]
Rossomando, F. [1 ,2 ]
机构：
[1] Natl Council Sci Res CONICET, Buenos Aires, DF, Argentina
[2] Natl Univ San Juan, San Juan, Argentina
来源：
IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION | 2020年 / 37卷 / 02期
关键词：
tracking control; uncertainties estimation; nonlinear system; linear algebra; mobile robot; SLIDING MODE CONTROL; PREDICTIVE CONTROL; PATH TRACKING; MONTE-CARLO; DESIGN; ALGORITHMS; SYSTEMS;
D O I：
10.1093/imamci/dnz016
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses trajectory tracking problem in mobile robots considering additive uncertainties. The controller design method is based on linear algebra theory. Numerical estimation techniques are used to estimate the uncertainty value in each sample time. The controller is calibrated by stochastic way using the Monte Carlo Experiment. In addition, the proof of convergence to zero of the tracking error is included. The theoretical results are validated by simulation and experimental tests. The controller proposed shows that it can be used to reduce the effect of additive uncertainties in the tracking error.
引用
收藏
页码：607 / 624
页数：18
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