Experimental comparison of control strategies for trajectory tracking for mobile robots

Linda Capito, Pablo Proaño, Oscar Camacho, Andrés Rosales, Gustavo Scaglia

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

29 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Páginas (desde-hasta)308-327
Número de páginas20
PublicaciónInternational Journal of Automation and Control
Volumen10
N.º3
DOI
EstadoPublicada - 2016
Publicado de forma externa

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