Experimental comparison of control strategies for trajectory tracking for mobile robots
- Authors
- Camacho Quintero, Oscar Eduardo
- Format
- Article
- Status
- publishedVersion
- 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.
http://www.inderscienceonline.com/doi/pdf/10.1504/IJAAC.2016.077591
- Publication Year
- 2016
- Language
- eng
- 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
- Repository
- Repositorio SENESCYT
- Rights
- openAccess
- License
- closedAccess