Sliding Mode Control: Implementation Like PID for Trajectory-Tracking for Mobile Robots

Pablo Proaño, Linda Capito, Andrés Rosales, Oscar Camacho

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

14 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings - 2015 Asia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015
EditoresAlberto Sanchez, Carlos Monsalve, Zenon Chaczko
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas220-225
Número de páginas6
ISBN (versión digital)9781479975884
DOI
EstadoPublicada - 1 oct. 2015
Publicado de forma externa
EventoAsia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015 - Quito, Pichincha, Ecuador
Duración: 14 jul. 201516 jul. 2015

Serie de la publicación

NombreProceedings - 2015 Asia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015

Conferencia

ConferenciaAsia-Pacific Conference on Computer-Aided System Engineering, APCASE 2015
País/TerritorioEcuador
CiudadQuito, Pichincha
Período14/07/1516/07/15

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