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image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao https://doi.org/10.1...arrow_drop_down
image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
https://doi.org/10.1109/etcm53...
Conference object . 2021 . Peer-reviewed
License: STM Policy #29
Data sources: Crossref
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A Control Techniques Comparison for Trajectory Tracking for a Robotics Platform With Time Delay

Authors: Byron Sarabia; Danilo Chavez; Oscar Camacho; Kleber Patiño;

A Control Techniques Comparison for Trajectory Tracking for a Robotics Platform With Time Delay

Abstract

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).

Subjects by Vocabulary

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

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    influence
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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).
BIP!Citations provided by BIP!
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.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
0
Average
Average
Average
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