Control mediante modos deslizantes en tiempo discreto para el seguimiento de trayectorias de un robot móvil
[EN] A discrete-time sliding mode controller is presented which solves the path tracking problem for a remotely controlled wheeled mobile robot. The control strategy is based on the exact discrete-time model of the mobile robot, including the transport delay induced by the communication network. The...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2007 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/145834 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/145834 |
| Access Level: | acceso abierto |
| Palabra clave: | Mobile robot Transport delay Discrete-time control Sliding modes Robot móvil Retardos de transporte Control en tiempo discreto Modos deslizantes |
| Sumario: | [EN] A discrete-time sliding mode controller is presented which solves the path tracking problem for a remotely controlled wheeled mobile robot. The control strategy is based on the exact discrete-time model of the mobile robot, including the transport delay induced by the communication network. The proposed controller guarantees asymptotic convergence of the tracking errors. The performance of the controller is evaluated through numerical simulation. |
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