{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,16]],"date-time":"2026-05-16T06:05:07Z","timestamp":1778911507040,"version":"3.51.4"},"reference-count":28,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2022,12,13]],"date-time":"2022-12-13T00:00:00Z","timestamp":1670889600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Spanish project","award":["PID2019-110455GB-I00"],"award-info":[{"award-number":["PID2019-110455GB-I00"]}]},{"name":"Spanish project","award":["US-1381077"],"award-info":[{"award-number":["US-1381077"]}]},{"DOI":"10.13039\/501100011011","name":"Andalusian Regional Excellence Research Project","doi-asserted-by":"publisher","award":["PID2019-110455GB-I00"],"award-info":[{"award-number":["PID2019-110455GB-I00"]}],"id":[{"id":"10.13039\/501100011011","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100011011","name":"Andalusian Regional Excellence Research Project","doi-asserted-by":"publisher","award":["US-1381077"],"award-info":[{"award-number":["US-1381077"]}],"id":[{"id":"10.13039\/501100011011","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The tracking problem (that is, how to follow a previously memorized path) is one of the most important problems in mobile robots. Several methods can be formulated depending on the way the robot state is related to the path. \u201cTrajectory tracking\u201d is the most common method, with the controller aiming to move the robot toward a moving target point, like in a real-time servosystem. In the case of complex systems or systems under perturbations or unmodeled effects, such as UAVs (Unmanned Aerial Vehicles), other tracking methods can offer additional benefits. In this paper, methods that consider the dynamics of the path\u2019s descriptor parameter (which can be called \u201cerror adaptive tracking\u201d) are contrasted with trajectory tracking. A formal description of tracking methods is first presented, showing that two types of error adaptive tracking can be used with the same controller in any system. Then, it is shown that the selection of an appropriate tracking rate improves error convergence and robustness for a UAV system, which is illustrated by simulation experiments. It is concluded that error adaptive tracking methods outperform trajectory tracking ones, producing a faster and more robust convergence tracking, while preserving, if required, the same tracking rate when convergence is achieved.<\/jats:p>","DOI":"10.3390\/s22249795","type":"journal-article","created":{"date-parts":[[2022,12,14]],"date-time":"2022-12-14T03:21:52Z","timestamp":1670988112000},"page":"9795","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Improving Tracking of Trajectories through Tracking Rate Regulation: Application to UAVs"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6184-1629","authenticated-orcid":false,"given":"Fernando","family":"Diaz-del-Rio","sequence":"first","affiliation":[{"name":"ETS Ingenier\u00eda Inform\u00e1tica, Universidad de Sevilla, Av. Reina Mercedes s\/n, 41012 Sevilla, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pablo","family":"Sanchez-Cuevas","sequence":"additional","affiliation":[{"name":"ETS Ingenier\u00eda Inform\u00e1tica, Universidad de Sevilla, Av. Reina Mercedes s\/n, 41012 Sevilla, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pablo","family":"I\u00f1igo-Blasco","sequence":"additional","affiliation":[{"name":"ETS Ingenier\u00eda Inform\u00e1tica, Universidad de Sevilla, Av. Reina Mercedes s\/n, 41012 Sevilla, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1392-1832","authenticated-orcid":false,"given":"J. L.","family":"Sevillano-Ramos","sequence":"additional","affiliation":[{"name":"ETS Ingenier\u00eda Inform\u00e1tica, Universidad de Sevilla, Av. Reina Mercedes s\/n, 41012 Sevilla, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,12,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Siciliano, B., and Khatib, O. (2016). Springer Handbook of Robotics, Springer Handbooks; Springer International Publishing.","DOI":"10.1007\/978-3-319-32552-1"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Palac\u00edn, J., Rubies, E., Clotet, E., and Mart\u00ednez, D. (2021). Evaluation of the Path-Tracking Accuracy of a Three-Wheeled Omnidirectional Mobile Robot Designed as a Personal Assistant. Sensors, 21.","DOI":"10.3390\/s21217216"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1362","DOI":"10.1109\/TAC.2007.902731","article-title":"Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty","volume":"52","author":"Aguiar","year":"2007","journal-title":"IEEE Trans. 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