Control-observador para seguimiento en un robot diferencial de segundo orden

Luis Aldair Castro-Romero; Hiram Netzahualcoyotl Garcia-Lozano; Jesus Santiaguillo-Salinas; Nancy Pérez-Castro

doi:10.29057/icbi.v12iEspecial2.12072

Luis Aldair Castro-Romero Universidad del Papaloapan https://orcid.org/0009-0007-1089-684X
Hiram Netzahualcoyotl Garcia-Lozano Universidad del Papaloapan https://orcid.org/0000-0002-8362-3187
Jesus Santiaguillo-Salinas Universidad del Papaloapan https://orcid.org/0000-0003-0219-9829
Nancy Pérez-Castro Universidad del Papaloapan https://orcid.org/0000-0002-1831-6148

DOI: https://doi.org/10.29057/icbi.v12iEspecial2.12072

Keywords: state observers, extended kinematic model, differential robot, mobile robots, trajectory tracking

Abstract

This work presents the design of a control with a state observer for the trajectory tracking of a differential mobile robot. The mathematical model of the robot is built based on a second-order kinematic extension. The linear velocities of the extended model are not easily measurable, for which a state observer is used. With control (input/output linearization) and using the observed states, convergence to zero of the error is guaranteed between the desired trajectory and the states. The theoretical results are validated through a numerical simulation with the Matlab Simulink software.

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