Title: Experimental comparison of control strategies for trajectory tracking for mobile robots

Authors: Linda Capito; Pablo Proaño; Oscar Camacho; Andrés Rosales; Gustavo Scaglia

Addresses: Facultad de Ingeniería Eléctrica y Electrónica, Escuela Politécnica Nacional, EPN, Quito, 170517, Ecuador ' Facultad de Ingeniería Eléctrica y Electrónica, Escuela Politécnica Nacional, EPN, Quito, 170517, Ecuador ' Facultad de Ingeniería Eléctrica y Electrónica, Escuela Politécnica Nacional, EPN, Quito, 170517, Ecuador ' Facultad de Ingeniería Eléctrica y Electrónica, Escuela Politécnica Nacional, EPN, Quito, 170517, Ecuador ' Instituto de Automática, Departamento de Ingeniería Química, Universidad Nacional de San Juan, San Juan, Argentina

Abstract: The purpose of this paper is to implement, test and compare the performance of different control strategies for tracking trajectory for mobile robots. The control strategies used are based on linear algebra, PID controller and on a sliding mode controller. Each control scheme is developed taking into consideration the model of the robot. The linear algebra approaches take into account the complete kinematic model of the robot; and the PID and the sliding mode controller use a reduced order model, which is obtained considering the mobile robot platform as a black-box. All the controllers are tested and compared, firstly by simulations and then, by using a Pioneer 3DX robot in field experiments.

Keywords: sliding mode control; SMC; mobile robots; trajectory tracking; linear algebra; controller design; comparison; robot control; control strategies; robot trajectories; PID control; kinematic modelling; robot modelling.

DOI: 10.1504/IJAAC.2016.077591

International Journal of Automation and Control, 2016 Vol.10 No.3, pp.308 - 327

Received: 24 Sep 2015
Accepted: 29 Jan 2016
Published online: 06 Jul 2016 *

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