Diseño y simulación de tres técnicas de control para el seguimiento de trayectorias en el robot Pioneer 3-DX utilizando CoppeliaSim-Simulink.

Abstract

In this project, the Pioneer 3-DX robot is shown following an established trajectory, for which a controller is needed that regulates the speeds in both tires, thus developing controllers by sliding modes and their variants, SMC-Dual and SMC-Dynamic.

The sliding mode structure is characterized by being a robust control method, whose control law consists of a continuous component, in charge of supervising and keeping the controlled variable subject to the established surface, converging the trajectory to zero as it slides. by the surface. At the same time, the discontinuous part is responsible for taking the controlled variable from an initial state to the desired surface.

The SMC-Dual seeks to combine the use of 2 independent controllers, an SMC with PD surface that acts when a fast action of the controller is needed and an SMC with PID surface that acts when the system has reached the reference and it is necessary to eliminate the steady-state error.

On the other hand, the SMC-Dynamic controller seeks to eliminate chatter and improve transient response as well as controller robustness by combining the structure of an IMC controller with that of an SMC controller with PD surface.