Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications
Joint Authors
Albertos, Pedro
Scaglia, Gustavo
Serrano, Emanuel
Rosales, Andres
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-08-19
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
In this work, a controller design technique called linear algebra based controller (LABC) is presented.
The controller is obtained following a systematic procedure that is summarized in this work.
In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed.
A mobile robot is used as a benchmark to test the performance of the proposed algorithms.
In addition, implementation to other systems such as marine vessel is referenced.
In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot.
Comparisons are also shown with other controllers proposed in the literature.
American Psychological Association (APA)
Scaglia, Gustavo& Serrano, Emanuel& Rosales, Andres& Albertos, Pedro. 2019. Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-15.
https://search.emarefa.net/detail/BIM-1197767
Modern Language Association (MLA)
Scaglia, Gustavo…[et al.]. Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications. Mathematical Problems in Engineering No. 2019 (2019), pp.1-15.
https://search.emarefa.net/detail/BIM-1197767
American Medical Association (AMA)
Scaglia, Gustavo& Serrano, Emanuel& Rosales, Andres& Albertos, Pedro. Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-15.
https://search.emarefa.net/detail/BIM-1197767
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197767