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Trajectory tracking controller based on numerical approximation under control actions constraints

机译：基于控制动作约束下数值逼近的轨迹跟踪控制器

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摘要

In this paper the problem of trajectory tracking considering that the values of the control actions do not exceed the maximum allowable is focused and the zero convergence of tracking errors is demonstrated. A new control law based on the numerical approximation of the mobile robot model is developed. Experimental results are presented and discussed, demonstrating the good performance of the controller.

机译：在本文中，考虑到控制动作的值不超过最大允许的轨迹跟踪问题，并展示了跟踪误差的零收敛。开发了一种基于移动机器人模型的数值逼近的新控制定律。提出和讨论了实验结果，展示了控制器的良好性能。

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《IEEE Biennial Congress of Argentina》|2014年||共6页
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Serrano Mario E.; Scaglia Gustavo J.E.; Romoli Santiago; Mut Vicente; Godoy Sebastian;
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中图分类无线电电子学、电信技术;
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4. Trajectory tracking controller based on numerical approximation under control actions constraints [C] . Serrano Mario E., Scaglia Gustavo J.E., Romoli Santiago, IEEE Biennial Congress of Argentina . 2014

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5. Adaptive and Learning Controllers for High-Accuracy Trajectory Tracking in Changing Conditions [D] . Pereida Pérez, Karime. 2020

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Trajectory tracking controller based on numerical approximation under control actions constraints

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