Seguimiento de trayectoria considerando incertidumbres aditivas en robots móviles

This paper proposes a new control law which allows the tracking trajectory of a mobile robot considering additive uncertainties. A control scheme based on linear algebra is obtained. Furthermore, the optimal controller parameters are chosen by the Monte Carlo experiment. Experimental results are sho...

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Published in2014 IEEE Biennial Congress of Argentina (ARGENCON) pp. 78 - 83
Main Authors Serrano, Mario E., Scaglia, Gustavo J. E., Romoli, Santiago, Ortiz, Oscar A., Mut, Vicente
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2014
Subjects
Abstracts
Laboratories
Monte Carlo methods
Robot sensing systems
Silicon
Silicon compounds
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Summary:This paper proposes a new control law which allows the tracking trajectory of a mobile robot considering additive uncertainties. A control scheme based on linear algebra is obtained. Furthermore, the optimal controller parameters are chosen by the Monte Carlo experiment. Experimental results are shown and discussed to demonstrate the efficiency of the controller.
DOI:10.1109/ARGENCON.2014.6868475