Robust techniques of automatic control for mobile robotic systems

TítuloRobust techniques of automatic control for mobile robotic systems
Tipo de PublicaciónThesis
Año de Publicación2019
AutoresRosendo JL
GradoPhD
Fecha de publicación02/2019
UniversidadUniversidad Nacional de La Plata
CiudadLa Plata, Buenos Aires, Argentina
Tipo de TesisPhD thesis
Resumen

This work seeks to mitigate the effects of constraints on mobile robotic systems. To this end, auxiliary control loops and robust tuning techniques are proposed. The former are proposed to mitigate the effects of constraints on the input and output of the systems through the modification of the motion parameter in path following applications. Then, PID controllers are considered as a structural constraint, given its wide use in robotics particularly at low control level. A robust tuning methodology considering this constraint is proposed which achieves good performance levels even when facing disturbances. Finally, to deal with robustness in presence of robots nonlinearity constraints, an analysis and tuning tool for sliding mode controllers is proposed. The particularity of this tuning method, based on global optimization and interval techniques, is that it allows generating tuning maps of the parameter regions where the desired performance criterion is fulfilled. All the proposed strategies are put into practice, through real experimentation or in validated simulators, over the AUV Ciscrea available at ENSTA Bretagne.

URLhttp://sedici.unlp.edu.ar/handle/10915/75671
Texto completo

Full text in Spanish is available through UNLP repository (link)

Líneas de investigación: 
High order sliding mode algorithms
Algoritmos por modo deslizante de orden superior
Control of autonomous systems
Control and coordination of robotic systems
Control y coordinación de sistemas robóticos