Experimental comparison of control strategies for trajectory tracking for mobile robots

The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking into consideration the model of the robot. The linear algebra approaches take into account the complete kinematic model of the robot; and the PID and the sliding mode controller use a reduced order model, which is obtained considering the mobile robot platform as a black-box. All the controllers are tested and compared, firstly by simulations and then, by using a Pioneer 3DX robot in field experiments.Fil: Capito, Linda. Escuela Politécnica Nacional; EcuadorFil: Proaño, Pablo. Escuela Politécnica Nacional; EcuadorFil: Camacho, Oscar. Escuela Politécnica Nacional; EcuadorFil: Rosales, Andrés. Escuela Politécnica Nacional; EcuadorFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentin

Tracking Control Design in Nonlinear Multivariable Systems: Robotic Applications

In this work, a controller design technique called linear algebra based controller (LABC) is presented. The controller is obtained following a systematic procedure that is summarized in this work. In addition, the influence of additive uncertainty on the tracking error is analyzed, and a solution using integrators is proposed. A mobile robot is used as a benchmark to test the performance of the proposed algorithms. In addition, implementation to other systems such as marine vessel is referenced. In this work, the design of controllers in continuous and discrete time is included and experimental and simulation results are shown in a Pioneer 3AT mobile robot. Comparisons are also shown with other controllers proposed in the literature.Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Rosales, Andrés. Escuela Politécnica Nacional; EcuadorFil: Albertos, Pedro. Universidad Politécnica de Valencia; Españ

Improvement of linear algebra controllers using sliding surface concepts: Applications to chemical processes

This work presents a novel control technique that combines concepts of Sliding Surface with a Linear Algebra methodology for controller design. The result is a controller with an improved robustness, while the chattering effect attributed to great uncertainties is avoided. A First Order Plus Dead Time (FOPDT) model of the process is used to develop a controller based on Linear Algebra and the concept of sliding surface is used to improve its performance under uncertainties. An interesting feature of this new controller is its ability to follow variable references without overshoot, a highly desirable characteristic for most process systems, and avoids the chattering problem. Results of the control of a CSTR and a laboratory batch reactor using this novel technique are presented. Simulated and experimental results demonstrate the outstanding performance of this new control algorithm.Fil: Sardella, Maria Fabiana. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaFil: Camacho Quintero, Oscar Eduardo. Escuela Politécnica Nacional. Departamento de Automatización y Control Industrial; EcuadorFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentin

A linear-interpolation-based controller design for trajectory tracking of mobile robots

This work presents a novel linear interpolation based methodology to design control algorithms for the trajectory tracking of mobile robotic systems. Particularly, a typical nonlinear multivariable system-a mobile robot-is analysed. The methodology is simple and can be applied to the design of a large class of control systems. Simulation and experimental results are presented and discussed, demonstrating the good performance of the proposed methodology.Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Rosales, Andrés. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Quintero, Lucia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Agarwal, Ravi. Florida Institute of Technology; Estados Unido

Neural Dynamics Variations Observer Designed for Robot Manipulator Control Using a Novel Saturated Control Technique

(is work presents a novel controller for the dynamics of robots using a dynamic variations observer. (e proposed controller uses a saturated control law based on sin(tg− 1(.)) function instead of tanh(.). Besides, this function is an alternative to the use of tanh(.) in saturation control, since it reaches its maximum value more gradually than the hyperbolic tangent function. Using this characteristic, the transition between states is smoother, with similar accuracy to tanh(.). (e controller is designed using a saturated SMC (sliding mode controller) and a dynamic variations observer based on GRNN (general regression neural network). (e originality of this work is the use of a combination of adaptive GRNN with a sliding mode controller (SMC) including a new saturation function. Finally, experiments based on trajectory tracking demonstrate the robustness and simplicity of this method.Fil: Rossomando, Francisco Guido. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Mendoza; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Soria, Carlos Miguel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Mendoza; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentin

Multivariable Tracking Control of a Bioethanol Process under Uncertainties

Bioethanol is one of the most studied alternative fuels nowadays. Due to its production process complexity and the low quality of the mathematical models that describe it, a reliable controller is needed to maximize the fuel production and minimize its environmental impact, even in the presence of uncertainty. Here, a controller for tracking optimal profiles considering model errors and external perturbations is proposed. This work is an improvement of a previously presented technique. To reduce the earlier mentioned uncertainties' effect during the fermentation, some tracking error integrators are added in the control action calculation. This simple modification ensures the tracking error convergence to zero, even in the presence of uncertainties (demonstration available). Different tests are carried out and a performance comparison with the original controller is shown to highlight improvements in the tracking error of up to 98% when integrators are incorporated. Furthermore, a classical PI controller is contrasted with the proposed techniques.Fil: Fernández Puchol, María Cecilia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Pantano, Maria Nadia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentin

Linear algebra and optimization based controller design for trajectory tracking of typical chemical process

This paper presents a new controller design to tracking trajectory of a typical chemical process. The plant model is represented by numerical methods and, from this approach, the control actions for an optimal operation of the system are obtained. Its main advantage is that the condition for the tracking error tends to zero and the calculation of control actions, are obtained solving a system of linear equations. The proofs of convergence to zero of the tracking error are presented. Simulation results show the good performance of the proposed control system.Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Ingenieria Quimica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Ingenieria Quimica; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Aballay, P.. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Ingenieria Quimica; ArgentinaFil: Ortiz, O. A.. Universidad Nacional de San Juan. Facultad de Ingenieria. Instituto de Ingenieria Quimica; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentin

Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System

The development of controllers for underactuated systems with nonholonomic constraints has been a topic of significant interest for many researchers in recent years. These systems are hard to control because their linearization transform them into uncontrollable systems. The proposed approaches involve the use of a permanent excitation in the reference trajectory; coordinate transformation; discontinuities; or complex calculations. This paper proposes the design of the controller of the second-order chained form system for trajectory tracking by using a simpler approach based on linear algebra. Up to the present time, no controllers based on this approach have been designed for that system. The control problem is solved by setting two of the three systems variables as a reference, while the remaining variable is calculated imposing the condition that the equations system has an exact solution to ensure that tracking errors go to zero. The stability of the proposed controller is theoretically demonstrated, and simulations results show a suitable control system performance. Also, no coordinate transformation is necessary.Fil: Rodriguez Aguilar, Leandro Pedro Faustino. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Sanchez, Mabel Cristina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Planta Piloto de Ingeniería Química. Universidad Nacional del Sur. Planta Piloto de Ingeniería Química; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentin

Nonlinear Trajectory Tracking Control for Marine Vessels with Additive Uncertainties

The paper presents a nonlinear control law for a marine vessel to track a reference trajectory. In the wake of theresults obtained in [19], an integrative approach is incorporated in the linear algebra methodology in order toreduce the effect of the uncertainty in the tracking error. This new approach does not increase the complexityof the design methodology. In addition, the zero convergence of tracking error under polynomial uncertaintiesis demonstrated. Simulation results under environmental disturbance and model mismatches are presentedand discussed.Fil: Serrano, Mario Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; ArgentinaFil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. 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: Gandolfo, Daniel. 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: Mut, Vicente 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: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentin

State Estimation and Nonlinear Tracking Control Simulation Approach: Application to a Bioethanol Production System

Tracking control of specifc variables is key to achieve a proper fermentation. This paper analyzes a fed-batch bioethanol production process. For this system, a controller design based on linear algebra is proposed. Moreover, to achieve a reliable control, on-line monitoring of certain variables is needed. In this sense, for unmeasurable variables, state estimators based on Gaussian processes are designed. Cell, ethanol and glycerol concentrations are predicted with only substrates measurement. Simulation results when the controller and estimators are coupled, are shown. Furthermore, the algorithms were tested with parametric uncertainties and disturbances in the control action, and are compared, in all cases, with neural networks estimators (previous work). Bayesian estimators show a performance improvement, which is refected in a decrease of the total error. Proposed techniques give reliable monitoring and control tools, with a low computational and economic cost, and less mathematical complexity than neural network estimators.Fil: Fernández Puchol, María Cecilia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Pantano, Maria Nadia. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Rodriguez Aguilar, Leandro Pedro Faustino. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentin