Experimental comparison of control strategies for trajectory tracking for mobile robots
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 int...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2016 |
| País: | Argentina |
| Institución: | Consejo Nacional de Investigaciones Científicas y Técnicas |
| Repositorio: | CONICET Digital (CONICET) |
| Idioma: | inglés |
| OAI Identifier: | oai:ri.conicet.gov.ar:11336/99942 |
| Acceso en línea: | http://hdl.handle.net/11336/99942 |
| Access Level: | acceso abierto |
| Palabra clave: | ALGORITHM COMPARISON CONTROL CONTROLLER LINEAR ALGEBRA MOBILE ROBOT SLIDING MODE CONTROL SMC TRAJECTORY TRACKING https://purl.org/becyt/ford/2.2 https://purl.org/becyt/ford/2 |
| Sumario: | 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. |
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