Diseño, simulación e implementación de técnicas de control basadas en un modelo de orden reducido y aplicadas al seguimiento de trayectoria para la plataforma robótica Pionner 3DX

Abstract

The main purpose of this work is to develop control algorithms for systems whose behavior can be represented by a first order plus dead time (FOPDT) system. A typical process of this type are chemical processes, but because of the difficulty encountered in trying to get actual chemical processes in this work algorithms are implemented in the robotic platform Pionner 3DX, which is represented as a system first order with delay. Three Controllers based on a first order model are developed, the first controller is a PID and it design takes criteria for direct systems. The second controller was developed from the use of numerical methods and linear algebra theory. The last controller was developed using intelligent computation by using Artificial Neuronal Networks (ANN). Additionally, the robustness of algorithms was tested by entering modeling errors and two obstacle avoidance algorithms.