Control mediante modos deslizantes en tiempo discreto para el seguimiento de trayectorias de un robot móvil

P. A. Niño-Suárez; E. Aranda-Bricaire; M. Velasco-Villa

doi:10.1016/s1697-7912(07)70242-x

Control mediante modos deslizantes en tiempo discreto para el seguimiento de trayectorias de un robot móvil

Translated title of the contribution: Discrete-time sliding mode control for the path tracking of a mobile robot

P. A. Niño-Suárez, E. Aranda-Bricaire, M. Velasco-Villa

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

Abstract

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.

Translated title of the contribution	Discrete-time sliding mode control for the path tracking of a mobile robot
Original language	Spanish
Pages (from-to)	31-38+130
Journal	RIAI - Revista Iberoamericana de Automatica e Informatica Industrial
Volume	4
Issue number	4
DOIs	https://doi.org/10.1016/s1697-7912(07)70242-x
State	Published - Oct 2007
Externally published	Yes

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abstract = "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.",

keywords = "Discrete-time control, Mobile robot, Sliding modes, Transport delay",

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AU - Aranda-Bricaire, E.

AU - Velasco-Villa, M.

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N2 - 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.

AB - 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.

KW - Discrete-time control

KW - Mobile robot

KW - Sliding modes

KW - Transport delay

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DO - 10.1016/s1697-7912(07)70242-x

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ER -

Control mediante modos deslizantes en tiempo discreto para el seguimiento de trayectorias de un robot móvil

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