Simulation of time delay compensation controller for a mobile robot using the SMC and Smith predictor

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.