NONLINEAR CONTROL APPLIED TO AN AUTONOMOUS VEHICLE (CONTROL NO LINEAL APLICADO A UN VEHÍCULO AUTÓNOMO)
Resumen
This paper addresses the problem of path tracking for a scaled vehicle AutoNOMO-mini. The formulation of this problem is analogous to the tracking control of a non-holonomic vehicle. Consequently, the kinematic model of the vehicle was considered. This study presents two control techniques applied to the scaled vehicle: the PID-like controller and the Sliding Mode Controller (SMC). Both controllers can regulate the direction of the vehicle to ensure it follows a specific trajectory. To evaluate their performance, the controllers were tested by measuring the steering angle of the front wheels of the scaled vehicle. The results demonstrated that the vehicle was capable of maintaining its intended trajectory. To demonstrate the feasibility of the approach, numerical simulations were performed in Matlab-Simulink and experimental tests were conducted on the AutoNOMO-mini vehicle.
Keywords: AutoNOMO-mini, Path Tracking, PID Control, Sliding Mode Control.
Resumen
Este artículo aborda el problema del seguimiento de trayectoria para un vehículo a escala AutoNOMO-mini. La formulación de este problema es análoga al control de seguimiento de un vehículo no holonómico. Debido a esto, se considera el modelo cinemático del vehículo. Este estudio presenta dos técnicas de control aplicadas al vehículo a escala: el controlador tipo PID y el Controlador por Modos Deslizantes (SMC por sus siglas en inglés). Ambos controladores son capaces de regular la dirección del vehículo para asegurar que siga una trayectoria específica. Para evaluar su rendimiento, los controladores se probaron midiendo el ángulo de dirección de las ruedas delanteras del vehículo a escala. Los resultados demostraron que el vehículo fue capaz de mantener la trayectoria prevista. Para demostrar la viabilidad del enfoque, se realizaron simulaciones numéricas en Matlab-Simulink y se realizaron pruebas experimentales en el vehículo AutoNOMO-mini.
Palabras clave: AutoNOMO-mini, Control de Modos Deslizantes, Control PID, Seguimiento de trayectoria.
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