Seguimiento de trayectoria mediante tres estrategias de control basado en Espacio Nulo, Control en Modo Deslizante (SMC) y Tipo PID aplicadas a una Formación de Manipuladores Móviles.

Abstract

The objective is to design and simulate three strategies to control the trajectory tracking in a formation of mobile manipulators: i) PID type, ii) based on Null Space, iii) Control Sliding Mode Control (SCM). First, it takes the kinematic model of the plant, and comparison between controllers is done by ICE and IAE values. Then, the controller design is done with obstacle avoidance based on Null Space, whose priority will be to maintain the structure of formation. Finally, the dynamic model of the mobile platform manipulator is analyzed, and a controller for this dynamic plant is provided.