Diseño, programación y simulación de controladores inteligentes aplicados a un robot móvil de tracción diferencial : diseño, programación y simulación de un controlador LAMDA Sliding-Mode Control (LSMC) aplicado a un robot móvil de tracción diferencial para seguimiento de trayectorias.

Abstract

This document presents the study, analysis and implementation of the LAMDA-SMC controller applied to a PIONEER 3DX differential traction robot for following predetermined trajectories. The controller is implemented in source code in the MATLAB simulation software, the same program that will be used to show the results obtained from the path tracking performed by the differential traction mobile robot. As a complement, the Virtual Robot Experimentation Platform (V-REP) software was used, which allows simulating an environment with different types of tracks and objects, so that each of the robots from its extensive library can interact and later analyze the observed results. That is, the script is developed in MATLAB that allows to control the PIONEER 3DX mobile robot that is in the V-REP software, tracking trajectories on the straight and inclined surface through a software in the loop architecture. For the design of the kinematic controller, the robot model was obtained previously, using the inverse position model. Additionally, a LAMDA-SMC dynamic controller is used to control the linear and angular speed of the differential traction mobile robot.