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

Scaglia, Gustavo Juan Eduardo et al · Oxford University Press · 2019

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Author / responsible party
Scaglia, Gustavo Juan Eduardo et al
Publisher
Oxford University Press
Year
2019
ISSN
0265-0754
ISSN
0265-0754
Language
English

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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. Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina Fil: Serrano, Mario Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina

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APA 7

Scaglia, G. J. E. E. A. (2019). Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation. http://hdl.handle.net/11336/148727

MLA

Scaglia, Gustavo Juan Eduardo et al. "Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation." 2019. http://hdl.handle.net/11336/148727.

Chicago

Scaglia, Gustavo Juan Eduardo et al. 2019. "Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation.". http://hdl.handle.net/11336/148727.

Harvard

Scaglia, G. J. E. E. A. 2019, Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation, Oxford University Press, available at: http://hdl.handle.net/11336/148727 [Accessed 7 Aug. 2026].

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Title
Linear algebra-based controller for trajectory tracking in mobile robots with additive uncertainties estimation
Author / contributors
Scaglia, Gustavo Juan Eduardo et al
Publisher
Oxford University Press
Publication year
2019
ISSN
0265-0754
ISSN
0265-0754
Language
English

Subjects

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LINEAR ALGEBRA; MOBILE ROBOT; NONLINEAR SYSTEM; TRACKING CONTROL; UNCERTAINTIES ESTIMATION; https://purl.org/becyt/ford/2.2; https://purl.org/becyt/ford/2
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