首页|Escuela Politecnica Nacional Researchers Detail Research in Robotics (Trajectory tracking for non-holonomic mobile robots: A comparison of sliding mode control approaches)
Escuela Politecnica Nacional Researchers Detail Research in Robotics (Trajectory tracking for non-holonomic mobile robots: A comparison of sliding mode control approaches)
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Our news correspondents obtained a quote from the research from Escuela Politecn ica Nacional: “Thecontrollers include a standard SMC controller and two variati ons, namely Dynamic Sliding Mode Control(D-SMC) and Dual Sliding Mode Control ( DM-SMC). The three controllers differ from conventional SMCapproaches since the y are designed based on a generic reduced-order empirical model that can represe ntany system that exhibits behavior akin to a First-Order Plus Delay Time (FOPD T) system. In this study, the comparison of controllers focuses on the Trajector y Tracking Problem (TTP) of a NonholonomicMobile Robot (NMR). Performance indic es are employed to quantify the controllers’ results across threetrajectory typ es. Simulation results evidence that if a smooth curvature trajectory is tracked , the bestperformance (in terms of minimizing trajectory tracking error and con troller effort) can be obtained byusing a DM-SMC. On the other hand, if there a re discontinuities in the curvature, the results suggest thata better alternati ve is the D-SMC since it compensates for abrupt changes as in the case of tracki ng asquare trajectory.”
Escuela Politecnica NacionalQuitoEcu adorSouth AmericaEmerging TechnologiesMachine LearningNano-robotRoboti cs
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