Title: A linear algebra controller based on reduced order models applied to trajectory tracking for mobile robots: an experimental validation

Authors: Leonardo Guevara; Oscar Camacho; Andrés Rosales; Javier Guevara; Gustavo Scaglia

Addresses: Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional, Quito, 170517, Ecuador ' Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional, Quito, 170517, Ecuador ' Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional, Quito, 170517, Ecuador ' Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional, Quito, 170517, Ecuador ' Facultad de Ingeniería, Instituto de Ingeniería Química-CONICET, Universidad Nacional de San Juan, Av. San Martin (Oeste) 1109, San Juan, Argentina

Abstract: A linear algebra controller (LACr) based on an empirical linear model of the system is presented in this paper. The controller design is based on a first order plus dead time (FOPDT) model and can be tuned using the characteristic parameters obtained from the reaction curve. In previous studies, the versatility of this proposed controller was tested by simulations, proving be an alternative to control many kinds of processes. In this paper, the proposed controller is implemented for trajectory tracking using a real mobile robot platform. The performance results are compared against a PI controller using the ISE performance index to measure it.

Keywords: numerical method controller; linear algebra; reduced order models; characteristic parameters; pioneer 3-DX; mobile robot; trajectory tracking.

DOI: 10.1504/IJAAC.2019.098214

International Journal of Automation and Control, 2019 Vol.13 No.2, pp.176 - 196

Received: 28 Apr 2017
Accepted: 20 Sep 2017
Published online: 06 Mar 2019 *

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