Control por modo deslizante para vehículos autónomos con elevado retardo para el seguimiento de caminos rectos

Winston García-Gobín; Darine Zambrano; Oscar Camacho

Control por modo deslizante para vehículos autónomos con elevado retardo para el seguimiento de caminos rectos

Translated title of the contribution: Sliding mode control for autonomous vehicles with long delay to track straight paths

Winston García-Gobín^*
, Darine Zambrano
, Oscar Camacho

^*Corresponding author for this work

Universidad de los Andes Mérida

Research output: Contribution to journal › Review article › peer-review

Abstract

In this paper is presented the application of Sliding Mode Controller in autonomous vehicles with long deadtime to track straight paths. The proposed controller is synthesized from a general reduced order model of the robot. This approach makes possible the application of this controller to different kind of robots, if they can be approximated by that kind of model. Based on computer simulations the proposed controller is compared against feedback state and lateral feedback position controllers. The robot model used is a cinematic one corresponding with a tricycle type model. The results show that the proposed approach presents better performance than the other two.

Translated title of the contribution	Sliding mode control for autonomous vehicles with long delay to track straight paths
Original language	Spanish
Pages (from-to)	137-144
Number of pages	8
Journal	Revista Tecnica de la Facultad de Ingenieria Universidad del Zulia
Volume	28
Issue number	2
State	Published - Aug 2005
Externally published	Yes

Cite this

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title = "Control por modo deslizante para veh{\'i}culos aut{\'o}nomos con elevado retardo para el seguimiento de caminos rectos",

abstract = "In this paper is presented the application of Sliding Mode Controller in autonomous vehicles with long deadtime to track straight paths. The proposed controller is synthesized from a general reduced order model of the robot. This approach makes possible the application of this controller to different kind of robots, if they can be approximated by that kind of model. Based on computer simulations the proposed controller is compared against feedback state and lateral feedback position controllers. The robot model used is a cinematic one corresponding with a tricycle type model. The results show that the proposed approach presents better performance than the other two.",

keywords = "Autonomous mobile vehicle, Deadtime system, Sliding mode control",

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T1 - Control por modo deslizante para vehículos autónomos con elevado retardo para el seguimiento de caminos rectos

AU - García-Gobín, Winston

AU - Zambrano, Darine

AU - Camacho, Oscar

PY - 2005/8

Y1 - 2005/8

N2 - In this paper is presented the application of Sliding Mode Controller in autonomous vehicles with long deadtime to track straight paths. The proposed controller is synthesized from a general reduced order model of the robot. This approach makes possible the application of this controller to different kind of robots, if they can be approximated by that kind of model. Based on computer simulations the proposed controller is compared against feedback state and lateral feedback position controllers. The robot model used is a cinematic one corresponding with a tricycle type model. The results show that the proposed approach presents better performance than the other two.

AB - In this paper is presented the application of Sliding Mode Controller in autonomous vehicles with long deadtime to track straight paths. The proposed controller is synthesized from a general reduced order model of the robot. This approach makes possible the application of this controller to different kind of robots, if they can be approximated by that kind of model. Based on computer simulations the proposed controller is compared against feedback state and lateral feedback position controllers. The robot model used is a cinematic one corresponding with a tricycle type model. The results show that the proposed approach presents better performance than the other two.

KW - Autonomous mobile vehicle

KW - Deadtime system

KW - Sliding mode control

UR - https://www.scopus.com/pages/publications/23844530170

M3 - Artículo de revisión

AN - SCOPUS:23844530170

SN - 0254-0770

VL - 28

SP - 137

EP - 144

JO - Revista Tecnica de la Facultad de Ingenieria Universidad del Zulia

JF - Revista Tecnica de la Facultad de Ingenieria Universidad del Zulia

IS - 2

ER -

Control por modo deslizante para vehículos autónomos con elevado retardo para el seguimiento de caminos rectos

Abstract

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