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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Cheein, F. A., Blazic, S., & Torres-Torriti, M. (2015, September). Computational approaches for improving the performance of path tracking controllers for mobile robots. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 6495–6500). New York: IEEE.
Li, Z., Deng, J., Lu, R., Xu, Y., Bai, J., & Su, C. Y. (2015). Trajectory-tracking control of mobile robot systems incorporating neural-dynamic optimized model predictive approach. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 46(6), 740–749.
Khalil, H. K., & Grizzle, J. W. (2002). Nonlinear systems (Vol. 3). (p 180), Upper Saddle River, NJ: Prentice hall
Panahandeh, P., Alipour, K., Tarvirdizadeh, B., & Hadi, A. (2019). A self-tuning trajectory tracking controller for wheeled mobile robots. Industrial Robot: The International Journal of Robotics Research and Application, 46(6), 828–838.
Proaño, P., Capito, L., Rosales, A., & Camacho, O. (2015, July). Sliding mode control: Implementation like PID for trajectory-tracking for mobile robots. In 2015 Asia-Pacific Conference on Computer Aided System Engineering (pp. 220–225). New York: IEEE.
Scaglia, G., Montoya, L. Q., Mut, V., & Di Sciascio, F. (2009). Numerical methods based controller design for mobile robots. Robotica, 27(2), 269–279.
Scaglia, G., Serrano, E., Rosales, A., & Albertos, P. (2019). Tracking control design in nonlinear multivariable systems: Robotic applications. Mathematical Problems in Engineering, 2019, 8643515. https://doi.org/10.1155/2019/8643515.
Scaglia, G., Quintero, O. L., Mut, V., & di Sciascio, F. (2008). Numerical methods based controller design for mobile robots. In IFAC Proceedings Volumes, 41(2), 4820–4827. https://doi.org/10.3182/20080706-5-KR-1001.00810.
Serrano, M. E., Godoy, S. A., Quintero, L., & Scaglia, G. J. (2017). Interpolation based controller for trajectory tracking in mobile robots. Journal of Intelligent and Robotic Systems, 86(3–4), 569–581.
Strang, G. (1980). Linear algebra and its applications. New York: Academic Press.
Sun, W., Tang, S., Gao, H., & Zhao, J. (2016). Two time-scale tracking control of nonholonomic wheeled mobile robots. IEEE Transactions on Control Systems Technology, 24(6), 2059–2069.
Tempo, R., & Ishii, H. (2007). Monte Carlo and Las Vegas randomized algorithms for systems and control: An introduction. European Journal of Control, 13(2–3), 189–203. https://doi.org/10.3166/ejc.13.189-203.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this chapter
Cite this chapter
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
Download citation
DOI: https://doi.org/10.1007/978-3-030-42818-1_3
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-42817-4
Online ISBN: 978-3-030-42818-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)