<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>0124-2253</journal-id>
<journal-title><![CDATA[Revista científica]]></journal-title>
<abbrev-journal-title><![CDATA[Rev. Cient.]]></abbrev-journal-title>
<issn>0124-2253</issn>
<publisher>
<publisher-name><![CDATA[Universidad Distrital Francisco José de Caldas]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S0124-22532024000200071</article-id>
<article-id pub-id-type="doi">10.14483/23448350.22613</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Comparative Analysis of Control Algorithms for Mobile Robots under Noise Conditions]]></article-title>
<article-title xml:lang="es"><![CDATA[Análisis comparativo de algoritmos de control para robots móviles bajo condiciones de ruido]]></article-title>
<article-title xml:lang="pt"><![CDATA[Análise Comparativa de Algoritmos de Controle para Robôs Móveis sob Condições de Ruído]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Escobedo]]></surname>
<given-names><![CDATA[Ángel]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Salas]]></surname>
<given-names><![CDATA[Valery]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Loyola]]></surname>
<given-names><![CDATA[Oscar]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Sandoval]]></surname>
<given-names><![CDATA[César]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Vidal]]></surname>
<given-names><![CDATA[Juan-Carlos]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Autónoma de Chile  ]]></institution>
<addr-line><![CDATA[Santiago ]]></addr-line>
<country>Chile</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad Autónoma de Chile  ]]></institution>
<addr-line><![CDATA[Santiago ]]></addr-line>
<country>Chile</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Universidad Autónoma de Chile  ]]></institution>
<addr-line><![CDATA[Santiago ]]></addr-line>
<country>Chile</country>
</aff>
<aff id="Af4">
<institution><![CDATA[,Universidad Autónoma de Chile  ]]></institution>
<addr-line><![CDATA[Santiago ]]></addr-line>
<country>Chile</country>
</aff>
<aff id="Af5">
<institution><![CDATA[,Universidad Autónoma de Chile  ]]></institution>
<addr-line><![CDATA[Santiago ]]></addr-line>
<country>Chile</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>08</month>
<year>2024</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>08</month>
<year>2024</year>
</pub-date>
<numero>50</numero>
<fpage>71</fpage>
<lpage>84</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_arttext&amp;pid=S0124-22532024000200071&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_abstract&amp;pid=S0124-22532024000200071&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_pdf&amp;pid=S0124-22532024000200071&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract The control of mobile robots in dynamic environments poses unique challenges compared to traditional manipulators, particularly due to the influence of wheel configuration on robot dynamics. Despite extensive studies on path-following algorithms, the inclusion of noise in simulations is often overlooked, which is critical for real-world applications. To address this gap, this paper provides a comprehensive evaluation of four popular control algorithms under various noise conditions, i.e., proportional-integral control, feedback linearization, Lyapunov-based control (LBC), and model predictive control (MPC). The algorithms were tested using a circular trajectory to ensure consistent and challenging conditions, and their performances were measured using the integral absolute error and mean squared error metrics. The results show that LBC and MPC offer superior robustness to noise, making them suitable for practical applications. This study contributes to the existing literature by highlighting the importance of considering noise in control algorithm evaluations and provides recommendations regarding the selection of appropriate controllers for mobile robots in noisy environments.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen El control de robots móviles en entornos dinámicos presenta desafíos únicos en comparación con los manipuladores tradicionales, particularmente debido a la influencia de la configuración de las ruedas en la dinámica del robot. A pesar de los numerosos estudios sobre algoritmos de seguimiento de trayectorias, a menudo se pasa por alto la inclusión de ruido en las simulaciones, lo cual es crítico para las aplicaciones del mundo real. Para abordar esta brecha, este documento proporciona una evaluación exhaustiva de cuatro algoritmos de control populares bajo diversas condiciones de ruido, i.e., control proporcional-integral, linealización por retroalimentación, control basado en Lyapunov (LBC) y control predictivo basado en el modelo (MPC). Los algoritmos fueron probados utilizando una trayectoria circular para asegurar condiciones consistentes y desafiantes, y sus desempeños fueron medidos utilizando las métricas de error absoluto integral (IAE) y error cuadrático medio (MSE). Los resultados muestran que el LBC y el MPC ofrecen una robustez superior al ruido, lo que los hace adecuados para aplicaciones prácticas. Este estudio contribuye a la literatura existente al destacar la importancia de considerar el ruido en la evaluación de algoritmos de control, y proporciona recomendaciones respecto a la selección de controladores apropiados para robots móviles en entornos ruidosos.]]></p></abstract>
<abstract abstract-type="short" xml:lang="pt"><p><![CDATA[Resumo O controle de robôs móveis em ambientes dinâmicos apresenta desafios únicos em comparação com manipuladores tradicionais, particularmente devido à influência da configuração das rodas na dinâmica do robô. Apesar dos estudos extensivos sobre algoritmos de seguimento de trajetória, a inclusão de ruído nas simulações é frequentemente negligenciada, o que é fundamental para aplicações no mundo real. Para abordar essa lacuna, este artigo fornece uma avaliação abrangente de quatro algoritmos de controle populares sob várias condições de ruído, ou seja, controle proporcional-integral, linearização por realimentação, controle baseado em Lyapunov (LBC) e controle preditivo baseado em modelo (MPC). Os algoritmos foram testados utilizando uma trajetória circular para garantir condições consistentes e desafiadoras, e seus desempenhos foram medidos utilizando as métricas de erro absoluto integral e erro quadrático médio. Os resultados mostram que o LBC e o MPC oferecem robustez superior ao ruído, tornando-os adequados para aplicações práticas. Este estudo contribui para a literatura existente ao destacar a importância de considerar o ruído na avaliação de algoritmos de controle e fornece recomendações quanto à seleção de controladores apropriados para robôs móveis em ambientes ruidosos.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[autonomous robots]]></kwd>
<kwd lng="en"><![CDATA[control theory]]></kwd>
<kwd lng="en"><![CDATA[mobile robots.]]></kwd>
<kwd lng="es"><![CDATA[robótica móvil]]></kwd>
<kwd lng="es"><![CDATA[robots autónomos]]></kwd>
<kwd lng="es"><![CDATA[teoría de control.]]></kwd>
<kwd lng="pt"><![CDATA[robôs autônomos]]></kwd>
<kwd lng="pt"><![CDATA[robôs móveis]]></kwd>
<kwd lng="pt"><![CDATA[teoria de controle.]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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