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Campo DC | Valor | Lengua/Idioma |
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dc.contributor.author | Velasco Villa, Martin | - |
dc.contributor.author | Aranda Bricaire, Eduardo | - |
dc.contributor.author | Orosco Guerrero, Rodolfo | - |
dc.date.accessioned | 2013-04-30T01:03:07Z | - |
dc.date.available | 2013-04-30T01:03:07Z | - |
dc.date.issued | 2009-10-15 | - |
dc.identifier.citation | Revista Computación y Sistemas; Vol. 13 No. 2 | es |
dc.identifier.issn | 1405-5546 | - |
dc.identifier.uri | http://www.repositoriodigital.ipn.mx/handle/123456789/15499 | - |
dc.description.abstract | Abstract. The exact discrete-time model of a two wheel differentially driven mobile robot is obtained by direct integration of its continuous-time kinematic model. The discrete-time model obtained is used to design two discrete-time linearizing control laws with different singular manifolds. These control laws are used to propose a commutation control scheme that solves the path-tracking problem and guarantees internal stability of the closed loop system. The performance of the control scheme is evaluated by the real time implementation of the proposed control strategy over a laboratory prototype. | es |
dc.description.sponsorship | Instituto Politécnico Nacional - Centro de Investigación en Computación (CIC). | es |
dc.language.iso | en_US | es |
dc.publisher | Revista Computación y Sistemas; Vol. 13 No. 2 | es |
dc.relation.ispartofseries | Revista Computación y Sistemas;Vol. 13 No. 2 | - |
dc.subject | Keywords. Discrete-time systems, mobile robots, feedback linearization, real time systems. | es |
dc.title | Discrete-Time Modeling and Path-Tracking for a Wheeled Mobile Robot | es |
dc.title.alternative | Modelado en Tiempo Discreto y Seguimiento de Trayectorias para un Robot Móvil Populsado por Ruedas | es |
dc.type | Article | es |
dc.description.especialidad | Investigación en Computación | es |
dc.description.tipo | es | |
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v13no2_Art02.pdf | 588.6 kB | Adobe PDF | Visualizar/Abrir |
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