A Control Techniques Comparison for Trajectory Tracking for a Robotics Platform with Time Delay.

Byron Sarabia, Danilo Chávez, Oscar Camacho, Kleber Patiño

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

1 Cita (Scopus)

Resumen

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).

Idioma originalInglés
Título de la publicación alojadaETCM 2021 - 5th Ecuador Technical Chapters Meeting
EditoresMonica Karel Huerta, Sebastian Quevedo, Carlos Monsalve
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781665441414
DOI
EstadoPublicada - 12 oct. 2021
Evento5th IEEE Ecuador Technical Chapters Meeting, ETCM 2021 - Cuenca, Ecuador
Duración: 12 oct. 202115 oct. 2021

Serie de la publicación

NombreETCM 2021 - 5th Ecuador Technical Chapters Meeting

Conferencia

Conferencia5th IEEE Ecuador Technical Chapters Meeting, ETCM 2021
País/TerritorioEcuador
CiudadCuenca
Período12/10/2115/10/21

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