Please use this identifier to cite or link to this item:
http://bibdigital.epn.edu.ec/handle/15000/9916
Title: | Tracking control of a mobile robot based on Taylor Formula |
Authors: | Rosales Acosta, Andrés Scaglia, Gustavo Mut, Vicente A. |
Keywords: | ROBOTS MÓVILES MÉTODOS NUMÉRICOS |
Issue Date: | Nov-2007 |
Abstract: | 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. |
URI: | http://bibdigital.epn.edu.ec/handle/15000/9916 |
Type: | Article |
Appears in Collections: | 2007 Anales de las XXI Jornadas en Ingeniería Eléctrica y Electrónica (2007 J - FIEE) |
Files in This Item:
File | Description | Size | Format | |
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2007AJIEE-10.pdf | 1,31 MB | Adobe PDF | View/Open |
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