Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots
This manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems....
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/11/11/988 |
| _version_ | 1797458571365974016 |
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| author | Javier Moreno Emanuel Slawiñski Fernando A. Chicaiza Francisco G. Rossomando Vicente Mut Marco A. Morán |
| author_facet | Javier Moreno Emanuel Slawiñski Fernando A. Chicaiza Francisco G. Rossomando Vicente Mut Marco A. Morán |
| author_sort | Javier Moreno |
| collection | DOAJ |
| description | This manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems. By assuming that the desired velocity in the body frame is persistently exciting, the uniform bound of the tracking error in earth coordinates is ensured. A simulation study using practical mobile robot parameters shows the viability of the introduced approach. In addition, two known trajectory tracking controllers are simulated in order to compare the performance of the proposed technique. Better tracking accuracy is obtained with the proposed control approach, even if uncertainties in the knowledge of the friction coefficients are presented. |
| first_indexed | 2024-03-09T16:40:00Z |
| format | Article |
| id | doaj.art-509e4270bd604ee8aa6d3c66f58fed3b |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T16:40:00Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-509e4270bd604ee8aa6d3c66f58fed3b2023-11-24T14:52:53ZengMDPI AGMachines2075-17022023-10-01111198810.3390/machines11110988Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile RobotsJavier Moreno0Emanuel Slawiñski1Fernando A. Chicaiza2Francisco G. Rossomando3Vicente Mut4Marco A. Morán5Centro de Investigación y Desarollo de Tecnología Digital, Instituto Politécnico Nacional, Ave. Instituto Politécnico Nacional No. 1310, Tijuana 22435, BC, MexicoInstituto de Automática, Universidad Nacional de San Juan, San Juan J5400ARL, ArgentinaInstituto de Automática, Universidad Nacional de San Juan, San Juan J5400ARL, ArgentinaInstituto de Automática, Universidad Nacional de San Juan, San Juan J5400ARL, ArgentinaInstituto de Automática, Universidad Nacional de San Juan, San Juan J5400ARL, ArgentinaCentro de Investigación y Desarollo de Tecnología Digital, Instituto Politécnico Nacional, Ave. Instituto Politécnico Nacional No. 1310, Tijuana 22435, BC, MexicoThis manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems. By assuming that the desired velocity in the body frame is persistently exciting, the uniform bound of the tracking error in earth coordinates is ensured. A simulation study using practical mobile robot parameters shows the viability of the introduced approach. In addition, two known trajectory tracking controllers are simulated in order to compare the performance of the proposed technique. Better tracking accuracy is obtained with the proposed control approach, even if uncertainties in the knowledge of the friction coefficients are presented.https://www.mdpi.com/2075-1702/11/11/988skid-steering mobile robotmotion controltracking errorinput–output feedback linearizationnonlinear systems |
| spellingShingle | Javier Moreno Emanuel Slawiñski Fernando A. Chicaiza Francisco G. Rossomando Vicente Mut Marco A. Morán Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots Machines skid-steering mobile robot motion control tracking error input–output feedback linearization nonlinear systems |
| title | Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots |
| title_full | Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots |
| title_fullStr | Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots |
| title_full_unstemmed | Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots |
| title_short | Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots |
| title_sort | design and analysis of an input output linearization based trajectory tracking controller for skid steering mobile robots |
| topic | skid-steering mobile robot motion control tracking error input–output feedback linearization nonlinear systems |
| url | https://www.mdpi.com/2075-1702/11/11/988 |
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