Diseño y simulación de dos controladores, PID no lineal y PID dual no lineal, para el seguimiento de trayectoria del robot diferencial uniciclo Pioneer 3DX mediante simulink y coppelia-sim (tomo I) : diseño y simulación de PID no lineal para el seguimiento de trayectoria de robot pioneer 3DX.

Abstract

In the present document, the implementation of a non-linear PID type controller for the trajectory tracking of the Pioneer 3DX unicycle-type differential traction robot is developed, with the aim of analyzing the advantages and disadvantages that a PID controller with variable gains can present, versus one with constant ones, implemented in previous works . In particular, a non-linear PID will be implemented with Kp and Ki values dependent on the error of the controlled variable, so that a control action can be obtained that adapts to the state of the system at an instant of time in which control action may be required. To test the designed controller, we seek to implement it on the Pioneer 3DX platform, in a trajectory tracking scheme, whose operating principle is that a virtual "ideal" robot with kinematic control generates the necessary references for the real robot, so that the latter follows the ideal robot. The real robot will be simulated in the Coppelia Sim program that includes the dynamic model of the equipment, in a 3D environment that also provides real-time measurements of the robot's positions, speeds and orientation, values that will be fed back to Simulink, where the parameters will be implemented. control algorithms and trajectory generation. The interaction between both platforms will be carried out through synchronous communication in a Software in Loop structure.