Modelo Dinamico y Controlador de Seguimiento para Robots Moviles Tipo Uniciclo

Resumen—Este articulo presenta una nueva manera para representar el modelo dinamico del robot movil tipo uniciclo, y propone un controlador de seguimiento de trayectoria basado en dicho modelo. El modelo dinamico propuesto recibe velocidades lineal y angular como entradas, lo que es usual en robots moviles comerciales. Propiedades importantes del nuevo modelo son estudiadas, como su caracteŕistica de pasividad y la anti-simetŕia de su matriz C. Algunas de dichas propiedades son utilizadas en el desarrollo del controlador de seguimiento de trayectoria y en el analisis de estabilidad del sistema, que es estudiada con base en la teoŕia de Lyapunov. Finalmente, resultados experimentales muestran que el controlador disenado tiene buen desempeno.

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