Unified Passivity-Based Visual Control for Moving Object Tracking

In this chapter, a unified passivity-based visual servoing control structure con-sidering a vision system mounted on the robot, is presented. This controller, is suit-able to be applied for robotic arms, mobile robots as well as for mobile manipula-tors. The proposed control law makes the robot able to perform a moving target tracking in its workspace. Taking advantage of the passivity properties of the con-trol system and considering exact knowledge of the target?s velocity, the asymptotic convergence to zero of the control errors are proved. Later, it is carried a robustness analysis out based on 2-gain performance, hence proving that control errors are ultimately bounded even when there exist bounded errors in the estimation of the target velocity. Both, numerical simulation and experimental results illustrate the performance of the algorithm in a robotic manipulator, a mobile robot and also in a mobile manipulator.Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Sarapura, Jorge Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Andaluz, Víctor. Universidad de Las Fuerzas Armadas; EcuadorFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Sebastian, José María. Universidad Politécnica de Madrid; Españ

Interpolation Based Controller for Trajectory Tracking in Mobile Robots

In this work, a novel algorithm for trajectory tracking in mobile robots is presented. For the purpose of tracking trajectory, a methodology based on the interpolation of trigonometric functions of the wheeled mobile robot kinematics is proposed. In addition, the convergence of the interpolation-based control systems is analysed. Furthermore, the optimal controller parameters are selected through Monte Carlo Experiments (MCE) in order to minimize a cost index. The MCE is able to find, the best set of gains that minimizes the tracking error. Experimental results over a mobile robot Pionner 3AT are conclusive and satisfactory. In addition, a comparative study of control performance is carried out against another controllers. © 2016, Springer Science+Business Media Dordrecht