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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.

Técnicas robustas para el control automático de sistemas robóticos móviles