A linear-interpolation-based controller design for trajectory tracking of mobile robots

Abstract:

This work presents a novel linear interpolation based methodology to design control algorithms for the trajectory tracking of mobile robotic systems. Particularly, a typical nonlinear multivariable system-a mobile robot-is analysed. The methodology is simple and can be applied to the design of a large class of control systems. Simulation and experimental results are presented and discussed, demonstrating the good performance of the proposed methodology. © 2009 Elsevier Ltd. All rights reserved.

Año de publicación:

2010

Keywords:

• Nonlinear Model
• Tracking trajectory control
• Control system design
• mobile robot
• Numerical Methods

Fuente:

scopus