Diseño, programación y simulación de controladores inteligentes aplicados a un robot móvil de tracción diferencial : diseño, programación y simulación de un controlador fuzzy-smc aplicado a un robot móvil de tracción diferencial para seguimiento de trayectorias.

Abstract

Robotics has experienced significant advancements in recent years and has become an important tool in various fields such as industry, medicine, and space exploration. Robotics has been extensively developed due to the efficiency and precision it provides in tasks that were previously carried out by humans. Furthermore, robots can interact in hazardous environments that could jeopardize the lives and well-being of individuals. Trajectory tracking is crucial for robots to move with precision and stability in a specified space and to fulfill specific tasks. To achieve this, trajectory tracking control algorithms are designed to cater to the needs of each task and minimize errors. These controllers must enhance the system's robustness and stability and also be suitable for operation under plant non-linearities. With this objective, robust and easy-to-design controllers have been developed, such as fuzzy logic-based controllers. These controllers improve the performance of traditional PID controllers by utilizing their internal structure, enabling them to correct the system's output more efficiently and with greater tolerance for non-linearities. The purpose of this curricular integration work is to validate a FUZZY-SMC controller. To achieve this, a research methodology is presented, which includes a literature review of various types of mobile robots and fuzzy logic-based controllers. Additionally, there is a review of the characteristics of the unicycle-type mobile robot. This is followed by the presentation of the controller design for both the kinematic and dynamic aspects of the mobile robot. Finally, the results of trajectory tracking tests are presented, validating the functionality of the proposed control scheme by comparing it with other controllers.