<?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>2631-2654</journal-id>
<journal-title><![CDATA[Revista Digital Novasinergia]]></journal-title>
<abbrev-journal-title><![CDATA[Novasinergia]]></abbrev-journal-title>
<issn>2631-2654</issn>
<publisher>
<publisher-name><![CDATA[Universidad Nacional de Chimborazo ]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2631-26542019000200049</article-id>
<article-id pub-id-type="doi">10.37135/unach.ns.001.04.05</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Controlador PD-Difuso para seguimiento de pared de un robot móvil: validación experimental]]></article-title>
<article-title xml:lang="en"><![CDATA[A Fuzzy-PD controller for wall-following of a mobile robot: experimental validation]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Aguas]]></surname>
<given-names><![CDATA[Xavier]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Revelo]]></surname>
<given-names><![CDATA[Jefferson]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Herrera]]></surname>
<given-names><![CDATA[Marco]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Cuaycal]]></surname>
<given-names><![CDATA[Andres]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Camacho]]></surname>
<given-names><![CDATA[Oscar]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Departamento de Automatización y Control Industrial, Escuela Politécnica Nacional  ]]></institution>
<addr-line><![CDATA[Quito ]]></addr-line>
<country>Ecuador</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>11</month>
<year>2019</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>11</month>
<year>2019</year>
</pub-date>
<volume>2</volume>
<numero>2</numero>
<fpage>49</fpage>
<lpage>57</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_arttext&amp;pid=S2631-26542019000200049&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_abstract&amp;pid=S2631-26542019000200049&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.senescyt.gob.ec/scielo.php?script=sci_pdf&amp;pid=S2631-26542019000200049&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen: Este artículo presenta un controlador Fuzzy-PD para resolver el problema de seguimiento de pared a través de un robot móvil. El desempeño del controlador propuesto es comparado con un controlador clásico PD a través del análisis del índice de la integral del error cuadrático (ISE) y el índice de variación total de la acción de control (TV). Para el diseño del controlador Fuzzy-PD, se consideró la distancia que existe entre el robot móvil y la pared la cual es medida a través de un sensor ultrasónico que tiene el robot. En este trabajo se realizaron dos pruebas con el objetivo de mostrar la efectividad que posee cada controlador, un cambio de referencia de la distancia de seguimiento y el seguimiento de una pared desconocida. Los controladores fueron sintonizados a través del algoritmo de optimización por enjambre de partículas (PSO) e implementados en la plataforma DaNI 2.0 mediante el uso del software LabView Robotics.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract: This article presents a Fuzzy-PD controller in order to solve the problem of wall following for a mobile robot. The performance of the proposed controller is compared to a classic PD controller through the analysis of the quadratic error integral index (ISE) and the total variation index of the control action (TV). For the design of the Fuzzy-PD controller, the distance between the mobile robot and the wall is measured through an ultrasonic sensor that has the mobile robot. In this work two tests were carried out with the objective of showing the effectiveness of each controller; a reference change of the tracking distance and the tracking of an unknown wall. The controllers were tuned by Particle Swarm Optimization (PSO) and implemented on the DaNI 2.0 platform through the use of LabView Robotics software.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Controlador difuso]]></kwd>
<kwd lng="es"><![CDATA[controlador PD]]></kwd>
<kwd lng="es"><![CDATA[robot móvil]]></kwd>
<kwd lng="es"><![CDATA[seguimiento de pared]]></kwd>
<kwd lng="en"><![CDATA[Fuzzy controller]]></kwd>
<kwd lng="en"><![CDATA[mobile robot]]></kwd>
<kwd lng="en"><![CDATA[PD controller]]></kwd>
<kwd lng="en"><![CDATA[wall-following]]></kwd>
</kwd-group>
</article-meta>
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