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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| Rannpháirtithe: | , |
| Formáid: | article |
| Teanga: | eng |
| Foilsithe / Cruthaithe: |
2007
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| Ábhair: | |
| Rochtain ar líne: | http://bibdigital.epn.edu.ec/handle/15000/9916 |
| Clibeanna: |
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Cuir clib leis | _version_ | 1827332049424351232 |
|---|---|
| author | Rosales Acosta, Andrés |
| author2 | Scaglia, Gustavo Mut, Vicente A. |
| author2_role | author author |
| author_facet | Rosales Acosta, Andrés Scaglia, Gustavo Mut, Vicente A. |
| author_role | author |
| collection | Repositorio Escuela Politécnica Nacional |
| dc.creator.none.fl_str_mv | Rosales Acosta, Andrés Scaglia, Gustavo Mut, Vicente A. |
| 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.identifier.none.fl_str_mv | http://bibdigital.epn.edu.ec/handle/15000/9916 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.none.fl_str_mv | https://creativecommons.org/licenses/by-nc-nd/4.0/ info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Escuela Politécnica Nacional instname:Escuela Politécnica Nacional instacron:EPN |
| dc.subject.none.fl_str_mv | ROBOTS MÓVILES MÉTODOS NUMÉRICOS MOBILE ROBOTS NUMERICAL METHODS |
| dc.title.none.fl_str_mv | Tracking control of a mobile robot based on Taylor Formula |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| 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. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | EPN_6889bc84d71d5ba910d23ee5571eb33b |
| instacron_str | EPN |
| institution | EPN |
| instname_str | Escuela Politécnica Nacional |
| language | eng |
| network_acronym_str | EPN |
| network_name_str | Repositorio Escuela Politécnica Nacional |
| oai_identifier_str | oai:bibdigital.epn.edu.ec:15000/9916 |
| publishDate | 2007 |
| reponame_str | Repositorio Escuela Politécnica Nacional |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Escuela Politécnica Nacional - Escuela Politécnica Nacional |
| repository_id_str | 1553 |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by-nc-nd/4.0/ |
| 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 |
| spellingShingle | Tracking control of a mobile robot based on Taylor Formula Rosales Acosta, Andrés ROBOTS MÓVILES MÉTODOS NUMÉRICOS MOBILE ROBOTS NUMERICAL METHODS |
| status_str | publishedVersion |
| title | 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_short | Tracking control of a mobile robot based on Taylor Formula |
| title_sort | Tracking control of a mobile robot based on Taylor Formula |
| topic | ROBOTS MÓVILES MÉTODOS NUMÉRICOS MOBILE ROBOTS NUMERICAL METHODS |
| url | http://bibdigital.epn.edu.ec/handle/15000/9916 |