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Saturated Proportional-integral-type Control of UWMRs with Experimental Evaluations

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Abstract

In this paper, a saturated proportional-integral (PI)-type controller for unicycle-type wheeled mobile robots (UWMRs) is designed. The advantages of the novel controller are the robustness to external disturbances and the ability to keep the control into admissible limits. The desired trajectory should satisfy the so-called virtual reference system and be bounded for all time. Lyapunov’s theory and Barbalat’s lemma are used to prove the convergence of the tracking errors. An analysis of when the system is affected by disturbances is also given. To assess the performance of the proposed controller, an experimental real-time comparison of five schemes, including the proposed one, is presented. All the tested controllers guarantee the motion control goal and can produce saturated control action. A circular reference trajectory for the tracking task is used to perform the comparison. The proposed PI-type controller presents the best trajectory tracking performance, while the generated control action remains bounded.

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Authors and Affiliations

  1. Av. Instituto, Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, Instituto Politécnico Nacional-CITEDI, Baja California, 22435, México

    Javier Moreno-Valenzuel & Luis Gonzalo Montoya-Villegas

  2. Av. Instituto Politécnico Nacional No. 1310, Colonia Nueva Tijuana, Tijuana, CONACYT-Instituto Politécnico Nacional-CITEDI, Baja California, 22435, México

    Ricardo Pérez-Alcocer

  3. Facultad de ingeniería, Universidad Autónoma de Baja California, Blvd. Benito Juárez S/N, Mexicali, Baja California, 21280, México

    Raúl Rascón

Authors
  1. Javier Moreno-Valenzuel
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  2. Luis Gonzalo Montoya-Villegas
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  3. Ricardo Pérez-Alcocer
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  4. Raúl Rascón
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Corresponding author

Correspondence to Luis Gonzalo Montoya-Villegas.

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This work was supported in part by the Instituto Politécnico Nacional under research grant 20201203, and by the Consejo Nacional de Ciencia y Tecnología, CONACYT-Fondo Sectorial de Investigación para la Educación under Project A1-S-24762. Proyecto Apoyado por el Fondo Sectorial de Investigación para la Educación, Mexico.

Javier Moreno-Valenzuela received his Ph.D. degree in automatic control from the CICESE Research Center, Ensenada, México, in 2002. From 2004 to 2005, he was a Postdoctoral Fellow with the Université de Liége, Belgium. He is currently with the Instituto Politécnico Nacional-CITEDI, Tijuana, México. He is the author of many peer-reviewed journal and international conference papers. He authored the book entitled: Motion Control of Underactuated Mechanical Systems (Springer-Verlag, 2018). His research interests include nonlinear systems, mechatronics, and intelligent systems. He has served as a Reviewer of a number of prestigious scientific journals. He is currently an Associate Editor of the IEEE LATIN AMERICA TRANSACTIONS and Mathematical Problems in Engineering.

Luis Gonzalo Montoya-Villegas was born in Tijuana, México, in 1992. He received his B.S. degree in electromechanical engineering from the Instituto Tecnológico de Tijuana, Tijuana, México, in 2015 and his M.S. degree in digital systems with specialization in control systems from the Instituto Politécnico Nacional-CITEDI, Tijuana, México, in 2017, where he is currently pursuing a Ph.D. degree in digital systems. His research interests include the analysis and control of wheeled mobile robots, nonlinear control, multiagents systems and consensus problems.

Ricardo Pérez-Alcocer was born in Mérida, México, in 1981. He received his B.Sc. degree in Computer Sciences from the University of Yucatán, México, in 2004, his M.Sc. in Mathematics from the University of Yucatán, México, in 2007, and a Ph.D. degree in Robotics and Advanced Manufacturing from CINVESTAV Research Center, Saltillo, México, in 2013. He is currently a Research Fellow with the CONACYT-Instituto Politécnico Nacional-CITEDI. His research interests include unmanned vehicles (aerial, aquatic and wheeled), linear and nonlinear control, multiagent systems, computer vision and intelligent systems.

Raúl Rascón received his B.S. degree in electrical engineering from Tecnológico Nacional de México, Mexicali, México, in 2005, an M.S. degree in automatic control from the Instituto Politécnico Nacional-CITEDI, Tijuana, México, in 2008, and a Ph.D. degree in automatic control from the CICESE Research Center, Ensenada, México, in 2012. He is currently a Fulltime Professor and a Researcher with the Facultad de Ingeniería, Universidad Autónoma de Baja California, Mexicali, México. His research interests include robust control, nonlinear control, observers, and applications to mechanical systems.

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Moreno-Valenzuel, J., Montoya-Villegas, L.G., Pérez-Alcocer, R. et al. Saturated Proportional-integral-type Control of UWMRs with Experimental Evaluations. Int. J. Control Autom. Syst. 20, 184–197 (2022). https://doi.org/10.1007/s12555-020-0428-3

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