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A Control Techniques Comparison for Trajectory Tracking for a Robotics Platform With Time Delay
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).
- National Polytechnic School Ecuador
- Universidad San Francisco de Quito Ecuador
Microsoft Academic Graph classification: Reduction (complexity) Mean squared error Computer science Control theory business.industry Trajectory Robotics Mobile robot Artificial intelligence Constant (mathematics) business Smith predictor
Microsoft Academic Graph classification: Reduction (complexity) Mean squared error Computer science Control theory business.industry Trajectory Robotics Mobile robot Artificial intelligence Constant (mathematics) business Smith predictor
citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).0 popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.Average influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Average impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Average citations This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).0 popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.Average influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).Average impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.Average Powered byBIP!