Sebastián Cachiguango
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Sebastián Cachiguango has a total of 4 co-authors. Here are the top co-authors by number of shared publications:
- Gabriela M. Andaluz
Departamento de Automatización y Control Industrial, Facultad de Ingeniería Eléctrica y Electrónica, Escuela Politécnica Nacional, Quito 170525, Ecuador
1 shared publication - Jacob Riera
Departamento de Automatización y Control Industrial, Facultad de Ingeniería Eléctrica y Electrónica, Escuela Politécnica Nacional, Quito 170525, Ecuador
1 shared publication - Michael Pedraza
Departamento de Automatización y Control Industrial, Facultad de Ingeniería Eléctrica y Electrónica, Escuela Politécnica Nacional, Quito 170525, Ecuador
1 shared publication - Paulo Leica
Departamento de Automatización y Control Industrial, Facultad de Ingeniería Eléctrica y Electrónica, Escuela Politécnica Nacional, Quito 170525, Ecuador
1 shared publication
Latest Publications
- Open Access
- 18 November 2024
- Published by MDPI AG in Engineering Proceedings
- Vol. 77 (1) , 7
Sliding Mode Control for Trajectory Tracking of a TurtleBot3 Mobile Robot in Obstacle Environments
The proposed work presents a Sliding Mode Controller (SMC) for trajectory tracking of a TurtleBot3 Burger mobile robot based on sliding mode. Trajectory tracking is performed in congested environments; therefore, an obstacle avoidance strategy is presented to prevent the robot from colliding with obstacles. A clear and detailed methodology is developed for the design of the SMC controller with a PID sliding surface for trajectory tracking that can be extrapolated to position control and posture control. The discontinuous part of the SMC is used to ensure that the robot tends to the desired reference whenever an obstacle appears. The stability analysis of the proposed controller is presented, and the experimental results are shown, demonstrating the good performance of the controller.
- 18 November 2024
- Published by MDPI AG in Engineering Proceedings
- Vol. 77 (1) , 7
Open AccessSliding Mode Control for Trajectory Tracking of a TurtleBot3 Mobile Robot in Obstacle Environments
The proposed work presents a Sliding Mode Controller (SMC) for trajectory tracking of a TurtleBot3 Burger mobile robot based on sliding mode. Trajectory tracking is performed in congested environments; therefore, an obstacle avoidance strategy is presented to prevent the robot from colliding with obstacles. A clear and detailed methodology is developed for the design of the SMC controller with a PID sliding surface for trajectory tracking that can be extrapolated to position control and posture control. The discontinuous part of the SMC is used to ensure that the robot tends to the desired reference whenever an obstacle appears. The stability analysis of the proposed controller is presented, and the experimental results are shown, demonstrating the good performance of the controller.