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Experimental comparison of control strategies for trajectory tracking for mobile robots

The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking int...

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Autor Principal: Camacho Quintero, Oscar Eduardo
Formato: Artículos
Lenguaje:eng
Publicado: 2017
Materias:
SLIDING MODE CONTROL
SMC
MOBILE ROBOTS
TRAJECTORY TRACKING
LINEAR ALGEBRA
CONTROLLER DESIGN
COMPARISON
ROBOT CONTROL
CONTROL STRATEGIES
ROBOT TRAJECTORIES
PID CONTROL
KINEMATIC MODELLING
ROBOT MODELLING
Acceso en línea:http://repositorio.educacionsuperior.gob.ec/handle/28000/3957
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spelling oai:localhost:28000-39572017-04-13T20:34:46Z Experimental comparison of control strategies for trajectory tracking for mobile robots Camacho Quintero, Oscar Eduardo SLIDING MODE CONTROL SMC MOBILE ROBOTS TRAJECTORY TRACKING LINEAR ALGEBRA CONTROLLER DESIGN COMPARISON ROBOT CONTROL CONTROL STRATEGIES ROBOT TRAJECTORIES PID CONTROL KINEMATIC MODELLING ROBOT MODELLING The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking into consideration the model of the robot. The linear algebra approaches take into account the complete kinematic model of the robot; and the PID and the sliding mode controller use a reduced order model, which is obtained considering the mobile robot platform as a black-box. All the controllers are tested and compared, firstly by simulations and then, by using a Pioneer 3DX robot in field experiments. http://www.inderscienceonline.com/doi/pdf/10.1504/IJAAC.2016.077591 2017-04-12T18:14:31Z 2017-04-12T18:14:31Z 2016 article Capito, Linda. et al. (2016). Experimental comparison of control strategies for trajectory tracking for mobile robots. International Journal of Automation and Control. Vol. 10. Reino Unido. 1740-7524 http://repositorio.educacionsuperior.gob.ec/handle/28000/3957 eng DOI;10.1504/IJAAC.2016.077591 closedAccess http://creativecommons.org/licenses/by-nc-sa/3.0/ec/
institution SENESCYT
collection Repositorio SENESCYT
biblioteca Biblioteca Senescyt
language eng
format Artículos
topic SLIDING MODE CONTROL
SMC
MOBILE ROBOTS
TRAJECTORY TRACKING
LINEAR ALGEBRA
CONTROLLER DESIGN
COMPARISON
ROBOT CONTROL
CONTROL STRATEGIES
ROBOT TRAJECTORIES
PID CONTROL
KINEMATIC MODELLING
ROBOT MODELLING
spellingShingle SLIDING MODE CONTROL
SMC
MOBILE ROBOTS
TRAJECTORY TRACKING
LINEAR ALGEBRA
CONTROLLER DESIGN
COMPARISON
ROBOT CONTROL
CONTROL STRATEGIES
ROBOT TRAJECTORIES
PID CONTROL
KINEMATIC MODELLING
ROBOT MODELLING
Camacho Quintero, Oscar Eduardo
Experimental comparison of control strategies for trajectory tracking for mobile robots
description The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking into consideration the model of the robot. The linear algebra approaches take into account the complete kinematic model of the robot; and the PID and the sliding mode controller use a reduced order model, which is obtained considering the mobile robot platform as a black-box. All the controllers are tested and compared, firstly by simulations and then, by using a Pioneer 3DX robot in field experiments.
author Camacho Quintero, Oscar Eduardo
author_facet Camacho Quintero, Oscar Eduardo
author_sort Camacho Quintero, Oscar Eduardo
title Experimental comparison of control strategies for trajectory tracking for mobile robots
title_short Experimental comparison of control strategies for trajectory tracking for mobile robots
title_full Experimental comparison of control strategies for trajectory tracking for mobile robots
title_fullStr Experimental comparison of control strategies for trajectory tracking for mobile robots
title_full_unstemmed Experimental comparison of control strategies for trajectory tracking for mobile robots
title_sort experimental comparison of control strategies for trajectory tracking for mobile robots
publishDate 2017
url http://repositorio.educacionsuperior.gob.ec/handle/28000/3957
_version_ 1634995206568804352
score 11,871979

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