Discrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot
Fuente:
Redalyc
Enregistré dans:
| Auteur principal: | |
|---|---|
| Format: | Artículo científico |
| Langue: | en |
| Publié: |
Instituto Politécnico Nacional
2009
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1876474932025622528 |
|---|---|
| author | Martin Velasco Villa |
| author_facet | Martin Velasco Villa |
| contents | Discrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot Martin Velasco Villa Eduardo Aranda Bricaire Rodolfo Orosco Guerrero Computación Discrete time systems mobile robots real time systems feedback linearization The exact discrete-time model of a two wheel differentially driven mobile robot is obtained by direct integration of its continuous-time kinematic model. The discrete-time model obtained is used to design two discrete-time linearizing control laws with different singular manifolds. These control laws are used to propose a commutation control scheme that solves the path-tracking problem and guarantees internal stability of the closed loop system. The performance of the control scheme is evaluated by the real time implementation of the proposed control strategy over a laboratory prototype. 2009 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61519181003 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.2 Vol.13 |
| format | Artículo científico |
| id | redalyc_61519181003 |
| institution | Redalyc |
| language | en |
| publishDate | 2009 |
| publisher | Instituto Politécnico Nacional |
| spellingShingle | Discrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot Martin Velasco Villa Computación Discrete time systems mobile robots real time systems feedback linearization Discrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot Martin Velasco Villa Eduardo Aranda Bricaire Rodolfo Orosco Guerrero Computación Discrete time systems mobile robots real time systems feedback linearization The exact discrete-time model of a two wheel differentially driven mobile robot is obtained by direct integration of its continuous-time kinematic model. The discrete-time model obtained is used to design two discrete-time linearizing control laws with different singular manifolds. These control laws are used to propose a commutation control scheme that solves the path-tracking problem and guarantees internal stability of the closed loop system. The performance of the control scheme is evaluated by the real time implementation of the proposed control strategy over a laboratory prototype. 2009 artículo científico 1405-5546 https://www.redalyc.org/articulo.oa?id=61519181003 en http://www.redalyc.org/revista.oa?id=615 Computación y Sistemas application/pdf Instituto Politécnico Nacional Computación y Sistemas (México) Num.2 Vol.13 |
| title | Discrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot |
| topic | Computación Discrete time systems mobile robots real time systems feedback linearization |
| url | https://www.redalyc.org/articulo.oa?id=61519181003 |