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Simulation of Time Delay Compensation Controller for a Mobile Robot Using the SMC and Smith Predictor

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Intelligent Autonomous Systems 14 (IAS 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

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Abstract

This paper uses a Smith predictor or time delay compensation in remote control system of mobile robot. Time delay causes a few errors, and the error in turns influence the control of the target. Smith predictor requires an accurate model, the type of a virtual model with a time delay in the feedback part, to compensate for the error value for the time delay. In the experiment of this paper, the error of Smith predictor is compensated by using a sliding mode controller. The mobile robot is implemented through the simulation that imaginary modeling is composed of two drive-wheels and one fixed-wheel. The mobile robot is controlled by sliding mode controller.

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Acknowledgements

This research was financially supported by the Ministry of trade, Industry and Energy(MOTIE), Korea Institute for Advancement of Technology(KIAT) through the Robot Business Belt Development Project(A012000009).

This research was supported by the MOTIE (Ministry of Trade, Industry & Energy), Korea, under the Industry Convergence Liaison Robotics Creative Graduates Education Program supervised by the KIAT (N0001126).

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Authors and Affiliations

  1. Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, 46241, Republic of Korea

    Dong-Hyuk Lee, Jae-Hun Jung, Ha-Neul Yoon, Young-Sik Park & Jang-Myung Lee

Authors
  1. Dong-Hyuk Lee
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  2. Jae-Hun Jung
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  3. Ha-Neul Yoon
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  4. Young-Sik Park
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  5. Jang-Myung Lee
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Corresponding author

Correspondence to Jang-Myung Lee .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

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Lee, DH., Jung, JH., Yoon, HN., Park, YS., Lee, JM. (2017). Simulation of Time Delay Compensation Controller for a Mobile Robot Using the SMC and Smith Predictor. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_50

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_50

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

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