A Control Techniques Comparison for Trajectory Tracking for a Robotics Platform With Time Delay.

Abstract

The research studies the problem that arises in the presence of temporary delays in control schemes. Delays cause a reduction in controller performance and can even cause system instability. In this work, control techniques dedicated to the attenuation of adverse effects in the trajectory tracking scheme with constant delays in time are implemented. The controllers analyzed are PD-Like, and Sliding Mode Controller (SMC); the compensator Smith Predictor is implemented. The MobileSim simulator is used with the Pioneer 3DX unicycle mobile robot model. The effectiveness of the control strategies is verified with the ISE performance index (Integral of Squared Error).