Abstract
In this chapter, the use of the Linear Algebra-Based Control Design (LAB CD) methodology is illustrated, being applied to a mobile robot. Initially, the simplest kinematic continuous time (CT) model of the robot is used and neither uncertainties nor external disturbances are considered. The simplicity of the proposed control structure is based on the model, and a simulation diagram allows the immediate implementation of the control. A procedure to determine the controller parameters is outlined, and the performance of the controlled plant, in both the transient (stability) and steady-state behavior, is analyzed.
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Scaglia, G., Serrano, M.E., Albertos, P. (2020). Application to a Mobile Robot. In: Linear Algebra Based Controllers. Springer, Cham. https://doi.org/10.1007/978-3-030-42818-1_3
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DOI: https://doi.org/10.1007/978-3-030-42818-1_3
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