@inproceedings{4e9b76f778d94d51a359c6ed2b6da4a5,
title = "A Control Techniques Comparison for Trajectory Tracking for a Robotics Platform with Time Delay.",
abstract = "The research studies the problem that arises in the presence of temporary delays in control schemes. Delays cause a reduction in controller performance and can even cause system instability. In this work, control techniques dedicated to the attenuation of adverse effects in the trajectory tracking scheme with constant delays in time are implemented. The controllers analyzed are PD-Like, and Sliding Mode Controller (SMC); the compensator Smith Predictor is implemented. The MobileSim simulator is used with the Pioneer 3DX unicycle mobile robot model. The effectiveness of the control strategies is verified with the ISE performance index (Integral of Squared Error).",
keywords = "Delay systems, PD-Like, Pioneer 3DX, Slide Mode Controller, Smith Predictor",
author = "Byron Sarabia and Danilo Ch{\'a}vez and Oscar Camacho and Kleber Pati{\~n}o",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 5th IEEE Ecuador Technical Chapters Meeting, ETCM 2021 ; Conference date: 12-10-2021 Through 15-10-2021",
year = "2021",
month = oct,
day = "12",
doi = "10.1109/ETCM53643.2021.9590757",
language = "Ingl{\'e}s",
series = "ETCM 2021 - 5th Ecuador Technical Chapters Meeting",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
editor = "Huerta, \{Monica Karel\} and Sebastian Quevedo and Carlos Monsalve",
booktitle = "ETCM 2021 - 5th Ecuador Technical Chapters Meeting",
}