Linear Algebra Continuous Dynamic Control for WMR

Linear Algebra Continuous Dynamic

This paper presents a novel methodology to deal with the problem of trajectory tracking in WMR. This new approach uses the dynamic model of WMR and allows perfect velocities tracking. Generally, the classic control approaches applied to the dynamic model of the robot solve the problem of trajectory tracking in two stages. In the first one is designed a controller that ensures the perfect tracki...

Construction of a WMR for Trajectory Tracking Control: Experimental Results

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the r...

WMR control via dynamic feedback linearization: design, implementation, and experimental validation

The subject of this paper is the motion control problem of wheeled mobile robots (WMRs) in environments without obstacles. With reference to the popular unicycle kinematics, it is shown that dynamic feedback linearization is an efficient design tool leading to a solution simultaneously valid for both trajectory tracking and setpoint regulation problems. The implementation of this approach on th...

Numerical Linear Algebra for Model Reduction in Control and Simulation

Model reduction is an ubiquitous tool in analysis and simulation of dynamical systems, control design, circuit simulation, structural dynamics, CFD, etc. In the past decades many approaches have been developed for reducing the order of a given model. Often these methods have been derived in parallel in different disciplines with particular applications in mind. We will discuss some of the most ...

Numerical Linear Algebra for Signals Systems and Control