Design and construction of a mobile base for testing different control techniques

Abstract

This thesis presents the design and development of a mobile robotic base conceived as a versatile platform for testing and validating various control techniques. The system is designed to be modular and adaptable, allowing the implementation of control strategies such as PID, navigation algorithms, and Sliding mode controll (SMC) in real-world environments. The work includes mechanical design, electronic integration, and the development of embedded control algorithms to ensure functionality, reliability, and flexibility. This platform is intended to support both research and educational efforts by providing a practical tool for experimentation and performance analysis of advanced control systems in mobile robotics