Tracking control of a mobile robot based on Taylor Formula

In this work, a strategy to calculate the control actions for a mobile robot following a pre-established trajectory is proposed. For this purpose, the Taylor series development of controlled variables is used and the control action is calculated to make the system follow the reference trajectory. As...

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Bibliographic Details
Authors: Rosales Acosta, Andrés, Scaglia, Gustavo, Mut, Vicente A.
Format: article
Status:Published version
Publication Date:2007
Country:Ecuador
Institution:Escuela Politécnica Nacional
Repository:Repositorio Escuela Politécnica Nacional
Language:English
OAI Identifier:oai:bibdigital.epn.edu.ec:15000/9916
Online Access:http://bibdigital.epn.edu.ec/handle/15000/9916
Access Level:Open access
Keyword:ROBOTS MÓVILES
MÉTODOS NUMÉRICOS
MOBILE ROBOTS
NUMERICAL METHODS
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spelling Tracking control of a mobile robot based on Taylor FormulaRosales Acosta, AndrésScaglia, GustavoMut, Vicente A.ROBOTS MÓVILESMÉTODOS NUMÉRICOSMOBILE ROBOTSNUMERICAL METHODSIn this work, a strategy to calculate the control actions for a mobile robot following a pre-established trajectory is proposed. For this purpose, the Taylor series development of controlled variables is used and the control action is calculated to make the system follow the reference trajectory. As main result, an easy form to implement the strategy is obtained. Simulation and experimental results are presented, showing the advantages of the control strategy proposed.2008-01-08T18:37:22Z2010-09-07T18:08:47Z2011-03-10T17:35:03Z2008-01-08T18:37:22Z2010-09-07T18:08:47Z2011-03-10T17:35:03Z2007-11info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://bibdigital.epn.edu.ec/handle/15000/9916enghttps://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessreponame:Repositorio Escuela Politécnica Nacionalinstname:Escuela Politécnica Nacionalinstacron:EPN2023-05-01T21:58:16Zoai:bibdigital.epn.edu.ec:15000/9916Institucionalhttps://bibdigital.epn.edu.ec/Universidad públicahttps://www.epn.edu.ec/https://bibdigital.epn.edu.ec/oai.Ecuador...opendoar:15532023-05-01T21:58:16Repositorio Escuela Politécnica Nacional - Escuela Politécnica Nacionalfalse
dc.title.none.fl_str_mv Tracking control of a mobile robot based on Taylor Formula
title Tracking control of a mobile robot based on Taylor Formula
spellingShingle Tracking control of a mobile robot based on Taylor Formula
Rosales Acosta, Andrés
ROBOTS MÓVILES
MÉTODOS NUMÉRICOS
MOBILE ROBOTS
NUMERICAL METHODS
title_short Tracking control of a mobile robot based on Taylor Formula
title_full Tracking control of a mobile robot based on Taylor Formula
title_fullStr Tracking control of a mobile robot based on Taylor Formula
title_full_unstemmed Tracking control of a mobile robot based on Taylor Formula
title_sort Tracking control of a mobile robot based on Taylor Formula
dc.creator.none.fl_str_mv Rosales Acosta, Andrés
Scaglia, Gustavo
Mut, Vicente A.
author Rosales Acosta, Andrés
author_facet Rosales Acosta, Andrés
Scaglia, Gustavo
Mut, Vicente A.
author_role author
author2 Scaglia, Gustavo
Mut, Vicente A.
author2_role author
author
dc.subject.none.fl_str_mv ROBOTS MÓVILES
MÉTODOS NUMÉRICOS
MOBILE ROBOTS
NUMERICAL METHODS
topic ROBOTS MÓVILES
MÉTODOS NUMÉRICOS
MOBILE ROBOTS
NUMERICAL METHODS
description In this work, a strategy to calculate the control actions for a mobile robot following a pre-established trajectory is proposed. For this purpose, the Taylor series development of controlled variables is used and the control action is calculated to make the system follow the reference trajectory. As main result, an easy form to implement the strategy is obtained. Simulation and experimental results are presented, showing the advantages of the control strategy proposed.
publishDate 2007
dc.date.none.fl_str_mv 2007-11
2008-01-08T18:37:22Z
2008-01-08T18:37:22Z
2010-09-07T18:08:47Z
2010-09-07T18:08:47Z
2011-03-10T17:35:03Z
2011-03-10T17:35:03Z
dc.type.none.fl_str_mv info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://bibdigital.epn.edu.ec/handle/15000/9916
url http://bibdigital.epn.edu.ec/handle/15000/9916
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv https://creativecommons.org/licenses/by-nc-nd/4.0/
info:eu-repo/semantics/openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.source.none.fl_str_mv reponame:Repositorio Escuela Politécnica Nacional
instname:Escuela Politécnica Nacional
instacron:EPN
instname_str Escuela Politécnica Nacional
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reponame_str Repositorio Escuela Politécnica Nacional
collection Repositorio Escuela Politécnica Nacional
repository.name.fl_str_mv Repositorio Escuela Politécnica Nacional - Escuela Politécnica Nacional
repository.mail.fl_str_mv .
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