TY - GEN
T1 - Sliding Mode Control
T2 - Asia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015
AU - Proaño, Pablo
AU - Capito, Linda
AU - Rosales, Andrés
AU - Camacho, Oscar
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/10/1
Y1 - 2015/10/1
N2 - Most of the controllers design are based on a process model. Generally, the processes are nonlinear, of high order and thus the number of tuning parameters for the controller are in proportion to the model order. Mobile robot models are nonlinear and complex, and the use of traditional procedures to design the SMC would result in a really extensive and probably inefficient expression. For that reason, the robot platform will be treated as a black-box, where only the input and output signals are known, and from them a linear low order model obtained. The linear model is used to synthesize the controller. Therefore, this paper proposes a general approach using a linear low order model of the robot for the SMC implementation. The designed controller has tuned parameters based in the use of a PID-like surface, which simplifies the implementation and avoids the use of the complete model of the robot. A robot Pioneer 3DX is used to test the controller's performance when tracking a square trajectory.
AB - Most of the controllers design are based on a process model. Generally, the processes are nonlinear, of high order and thus the number of tuning parameters for the controller are in proportion to the model order. Mobile robot models are nonlinear and complex, and the use of traditional procedures to design the SMC would result in a really extensive and probably inefficient expression. For that reason, the robot platform will be treated as a black-box, where only the input and output signals are known, and from them a linear low order model obtained. The linear model is used to synthesize the controller. Therefore, this paper proposes a general approach using a linear low order model of the robot for the SMC implementation. The designed controller has tuned parameters based in the use of a PID-like surface, which simplifies the implementation and avoids the use of the complete model of the robot. A robot Pioneer 3DX is used to test the controller's performance when tracking a square trajectory.
KW - Sliding Mode Control
KW - mobile robot
KW - trajectory tracking
UR - https://www.scopus.com/pages/publications/84959378544
U2 - 10.1109/APCASE.2015.46
DO - 10.1109/APCASE.2015.46
M3 - Contribución a la conferencia
AN - SCOPUS:84959378544
T3 - Proceedings - 2015 Asia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015
SP - 220
EP - 225
BT - Proceedings - 2015 Asia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015
A2 - Sanchez, Alberto
A2 - Monsalve, Carlos
A2 - Chaczko, Zenon
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 14 July 2015 through 16 July 2015
ER -