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nonlinear multivariable control

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A nonlinear trajectory tracking controller for mobile robots with velocity limitation via parameters regulation
Mario E. Serrano, Sebastián A. Godoy, Vicente A. Mut, Oscar A. Ortiz, Gustavo J. E. Scaglia
Journal:

Robotica / Volume 34 / Issue 11 / November 2016

Published online by Cambridge University Press:

16 April 2015, pp. 2546-2565
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This paper addresses the problem of trajectory tracking control in mobile robots under velocity limitations. Following the results reported in ref. [1], the problem of trajectory tracking considering control actions constraint is focused and the zero convergence of the tracking errors is demonstrated. In this work, the original methodology is expanded considering a controller that depends not only on the position but also on the velocity. A simple scheme is obtained, which can be easily implemented in others controllers of the literature. Experimental results are presented and discussed, demonstrating the good performance of the controller.