Seguimiento de trayectorias de un robot móvil (3,0) mediante control acotado
Trajectory tracking of a mobile robot (3,0) by means of bounded control
J.F.. Guerrero-Castellanosa, M.G.. Villarreal-Cervantesb, J.P.. Sánchez-Santanaa, J.P.. Sánchez-Santanac, S.. Ramírez-Martíneza
a Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla (BUAP), Ciudad universitaria, C. P. 72570, Puebla, México
b CIDETEC, Instituto Politécnico Nacional, Av. Juan de Dios Bátiz s/n, Col. Nueva Industrial Vallejo, Deleg. Gustavo A. Madero, C.P. 07700, México D.F
c Universidad Politécnica de Puebla (UPPUE). Tercer Carril del Ejido Serrano s/n, San Mateo Cuanalá, Juan C. Bonilla, C. P. 72640, Puebla, México
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P. 72640, Puebla, México" "etiqueta" => "<span class="elsevierStyleSup">c</span>" "identificador" => "affc" ] ] ] ] "titulosAlternativos" => array:1 [ "en" => array:1 [ "titulo" => "Trajectory tracking of a mobile robot (3,0) by means of bounded control" ] ] "textoCompleto" => "<p class="elsevierStylePara"><a name="sec0005" class="elsevierStyleCrossRefs"></a></p><span class="elsevierStyleSectionTitle"> Referencias no citadas</span><p class="elsevierStylePara"> (<a href="#bib24" class="elsevierStyleCrossRefs">Araújo et al., 2014</a>), (<a href="#bib25" class="elsevierStyleCrossRefs">Arfiadi and Hadi, 2006</a>), (<a href="#bib26" class="elsevierStyleCrossRefs">Arias et al., 2011</a>), (<a href="#bib27" class="elsevierStyleCrossRefs">Aström and Murray, 2010</a>), (<a href="#bib28" class="elsevierStyleCrossRefs">Cañas et al., 2014</a>), (<a href="#bib29" class="elsevierStyleCrossRefs">Campion and Bastin, 1996</a>), (<a href="#bib30" class="elsevierStyleCrossRefs">Chaos et al., 2013</a>), (<a href="#bib1" class="elsevierStyleCrossRefs">Dierks and Jagannathan, 2007</a>), (<a href="#bib2" class="elsevierStyleCrossRefs">El-Shenawy et al., 2008</a>), (<a href="#bib3" class="elsevierStyleCrossRefs">Fischer et al., 2013</a>), (<a href="#bib4" class="elsevierStyleCrossRefs">Guerrero-Castellanos et al., 2011</a>), (<a href="#bib5" class="elsevierStyleCrossRefs">Guerrero-Castellanos et al., 2014</a>), (<a href="#bib6" class="elsevierStyleCrossRefs">Indiveri et al., 2006</a>), (<a href="#bib7" class="elsevierStyleCrossRefs">Johnson and Kannan, 2003</a>), (<a href="#bib8" class="elsevierStyleCrossRefs">Kaliora and Astolfi, 2005</a>), (<a href="#bib9" class="elsevierStyleCrossRefs">Marchand and Hably, 2005</a>), (<a href="#bib10" class="elsevierStyleCrossRefs">Rifai et al., 2012</a>), (<a href="#bib11" class="elsevierStyleCrossRefs">Rivera, 2006</a>), (<a href="#bib12" class="elsevierStyleCrossRefs">Saidonr et al., 2011</a>), (<a href="#bib13" class="elsevierStyleCrossRefs">Scolari Conceiçao et al., 2006</a>), (<a href="#bib14" class="elsevierStyleCrossRefs">Shen et al., 2011</a>), (<a href="#bib15" class="elsevierStyleCrossRefs">Sira-Ramirez et al., 2011</a>), (<a href="#bib16" class="elsevierStyleCrossRefs">Sussmann et al., 1994</a>), (<a href="#bib17" class="elsevierStyleCrossRefs">Teel, 1992</a>), (<a href="#bib18" class="elsevierStyleCrossRefs">Velasco-Villa et al., 2007</a>), (<a href="#bib19" class="elsevierStyleCrossRefs">Villarreal-Cervantes et al., 2012a</a>), (<a href="#bib20" class="elsevierStyleCrossRefs">Villarreal-Cervantes et al., 2012b</a>), (<a href="#bib21" class="elsevierStyleCrossRefs">Yandong et al., 2010</a>), (<a href="#bib22" class="elsevierStyleCrossRefs">Yong and Ru-Ning, 2010</a>) and (<a href="#bib23" class="elsevierStyleCrossRefs">Álvarez et al., 2003</a>).</p><p class="elsevierStylePara"> Recibido 31 Diciembre 2013 <br></br> Recibido 3 Septiembre 2014 <br></br> Aceptado 8 Septiembre 2014</p><p class="elsevierStylePara"> Autor para correspondencia. fguerrero@ece.buap.mx</p>" "pdfFichero" => "331v11n04a90351938pdf001.pdf" "tienePdf" => true "PalabrasClave" => array:2 [ "es" => array:1 [ 0 => array:4 [ "clase" => "keyword" "titulo" => "Palabras clave" "identificador" => "xpalclavsec691595" "palabras" => array:5 [ 0 => "Robot móvil (3,0)" 1 => "control acotado" 2 => "función de saturación" 3 => "control no lineal" 4 => "seguimiento de trayectoria" ] ] ] "en" => array:1 [ 0 => array:4 [ "clase" => "keyword" "titulo" => "Keywords" "identificador" => "xpalclavsec691596" "palabras" => array:5 [ 0 => "Mobile robot (3,0)" 1 => "bounded control" 2 => "nested function" 3 => "nonlinear control" 4 => "trajectory tracking" ] ] ] ] "tieneResumen" => true "resumen" => array:2 [ "es" => array:1 [ "resumen" => "<span class="elsevierStyleSectionTitle"> Resumen</span><br/><p class="elsevierStylePara"> El presente trabajo aborda el problema de seguimiento de trayectoria para el robot (3, 0) basado en su modelo cinemático y propone una solución mediante el diseño de una estrategia de control que a priori toma en cuenta las cotas máximas permitidas de la señal de control <span class="elsevierStyleItalic">i.e.</span> la velocidad lineal y angular máximas que puede alcanzar el robot móvil. El objetivo es maximizar el uso de los actuadores sin poner en riesgo la estabilidad del sistema. La ley de control no lineal resultante se compone de un compensador no lineal basado en el modelo cinemático y de funciones de saturación anidadas. Esta ley de control contiene parámetros de sintonización que permiten que las trayectorias de la dinámica del error ingresen a una vecindad del origen, en un tiempo finito y se mantengan de ahí en adelante. Resultados experimentales sustentan los resultados teóricos, muestran el desempeño del sistema de control en lazo cerrado y lo comparan con una estrategia que no toma en cuenta los límites de la señal de control. Debido a su simplicidad, la estrategia de control propuesta permite ser implementada en sistemas embebidos con bajo coste computacional.</p>" ] "en" => array:1 [ "resumen" => "<span class="elsevierStyleSectionTitle"> Abstract</span><br/><p class="elsevierStylePara"> The present work deals with the tracking problem of a mobile robot (3,0) based on the kinematic model and proposes a control strategy that takes into account a priori input signals bounds <span class="elsevierStyleItalic">i.e.</span> the linear and angular velocity of the robot. The objective of this control approach is to maximize the effectiveness of the actuators without taking a risk in the system stability. The resulting nonlinear control is composed of a nonlinear compensator based on the kinematic model and nested saturation approach. The control law can be tuned to force the error dynamics trajectories to enter in a neighborhood of the origin in a finite time and remain thereafter. Experimental results show the performance of the closed loop system. Furthermore, owing to simplicity, the proposed control law is suitable for application where on-board computational resources are limited.</p>" ] ] "bibliografia" => array:2 [ "titulo" => "Bibliography" "seccion" => array:1 [ 0 => array:1 [ "bibliografiaReferencia" => array:30 [ 0 => array:3 [ "identificador" => "bib24" "etiqueta" => "1" "referencia" => array:1 [ 0 => array:3 [ "referenciaCompleta" => "Desarrollo de un robot móvil compacto integrado en el middleware ros. Revista Iberoamericana de Automática e Informática Industrial {RIAI}. 2014; 11(3):315-26. " "contribucion" => array:1 [ 0 => array:3 [ "titulo" => "Desarrollo de un robot móvil compacto integrado en el middleware ros." 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| Year/Month | Html | Total | |
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| 2024 October | 15 | 3 | 18 |
| 2024 September | 28 | 10 | 38 |
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| 2024 March | 28 | 13 | 41 |
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| 2023 October | 19 | 26 | 45 |
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| 2023 August | 19 | 13 | 32 |
| 2023 July | 23 | 29 | 52 |
| 2023 June | 26 | 37 | 63 |
| 2023 May | 55 | 26 | 81 |
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| 2022 October | 53 | 32 | 85 |
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| 2022 July | 16 | 19 | 35 |
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| 2022 May | 23 | 17 | 40 |
| 2022 April | 36 | 23 | 59 |
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| 2021 September | 17 | 13 | 30 |
| 2021 August | 11 | 24 | 35 |
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| 2021 June | 6 | 10 | 16 |
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| 2021 April | 25 | 39 | 64 |
| 2021 March | 17 | 9 | 26 |
| 2021 February | 12 | 6 | 18 |
| 2021 January | 20 | 15 | 35 |
| 2020 December | 18 | 21 | 39 |
| 2020 November | 25 | 13 | 38 |
| 2020 October | 15 | 11 | 26 |
| 2020 September | 13 | 9 | 22 |
| 2020 August | 24 | 8 | 32 |
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| 2020 April | 9 | 7 | 16 |
| 2020 March | 21 | 13 | 34 |
| 2020 February | 30 | 11 | 41 |
| 2020 January | 13 | 13 | 26 |
| 2019 December | 17 | 6 | 23 |
| 2019 November | 11 | 18 | 29 |
| 2019 October | 11 | 11 | 22 |
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| 2018 October | 16 | 26 | 42 |
| 2018 September | 8 | 12 | 20 |
| 2018 August | 5 | 12 | 17 |
| 2018 July | 12 | 15 | 27 |
| 2018 June | 23 | 14 | 37 |
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| 2018 April | 27 | 12 | 39 |
| 2018 March | 24 | 1 | 25 |
| 2018 February | 25 | 5 | 30 |
| 2018 January | 35 | 5 | 40 |
| 2017 December | 31 | 4 | 35 |
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| 2017 October | 25 | 8 | 33 |
| 2017 September | 15 | 4 | 19 |
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| 2017 June | 28 | 8 | 36 |
| 2017 May | 30 | 13 | 43 |
| 2017 April | 32 | 2 | 34 |
| 2017 March | 32 | 22 | 54 |
| 2017 February | 25 | 5 | 30 |
| 2017 January | 50 | 3 | 53 |
| 2016 December | 44 | 4 | 48 |
| 2016 November | 49 | 7 | 56 |
| 2016 October | 54 | 6 | 60 |
| 2016 September | 55 | 10 | 65 |
| 2016 August | 45 | 6 | 51 |
| 2016 July | 31 | 1 | 32 |
| 2016 June | 9 | 7 | 16 |
| 2016 May | 18 | 11 | 29 |
| 2016 April | 26 | 31 | 57 |
| 2016 March | 36 | 12 | 48 |
| 2016 February | 32 | 13 | 45 |
| 2016 January | 30 | 11 | 41 |
| 2015 December | 27 | 13 | 40 |
| 2015 November | 31 | 11 | 42 |
| 2015 October | 32 | 12 | 44 |
| 2015 September | 13 | 9 | 22 |
| 2015 August | 18 | 6 | 24 |
| 2015 July | 29 | 8 | 37 |
| 2015 June | 21 | 5 | 26 |
| 2015 May | 43 | 4 | 47 |
| 2015 April | 76 | 12 | 88 |
| 2015 March | 71 | 18 | 89 |
| 2015 February | 61 | 15 | 76 |
| 2015 January | 56 | 8 | 64 |
| 2014 December | 223 | 26 | 249 |
| 2014 November | 200 | 24 | 224 |
| 2014 October | 174 | 21 | 195 |
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