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http://cicese.repositorioinstitucional.mx/jspui/handle/1007/1707| Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints | |
| OLLIN PEÑALOZA MEJIA | |
| LUIS ALEJANDRO MARQUEZ MARTINEZ Joaquin Alvarez Miguel Gabriel Villarreal-Cervantes RAMON GARCIA HERNANDEZ | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| http://dx.doi.org/10.1155/2015/608015 | |
| Motion Control Design, Omnidirectional Mobile Robot, Velocity Constraints, Asymptotic tracking, Lyapunov theory, Passivity tools | |
| "A solution to achieve global asymptotic tracking with bounded velocities in an omnidirectional mobile robot is proposed in this paper. It is motivated by the need of having a useful in-practice motion control scheme, which takes into account the physical limits of the velocities. To this end, a passive nonlinear controller is designed and combined with a tracking controller in a negative feedback connection structure. By using Lyapunov theory and passivity tools, global asymptotic tracking with desired bounded velocities is proved. Simulations and experimental results are provided to show the effectiveness of the proposal." | |
| Hindawi Publishing Corporation | |
| 2015 | |
| Artículo | |
| Mathematical Problems in Engineering, Vol. 2015, Págs. 1-12 | |
| Inglés | |
| Peñaloza Mejía,O.,Márquez Martínez,L.A.,Álvarez,J.,Villarreal Cervantes,M.G.,García Hernández,R.2015.Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints. Mathematical Problems in Engineering,2015,1-12. doi:10.1155/2015/608015 | |
| ELECTRÓNICA | |
| Versión publicada | |
| publishedVersion - Versión publicada | |
| Aparece en las colecciones: | Artículos - Electrónica y Telecomunicaciones |
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