A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach

Edgar A. Martinez, Hector Rios, Manuel Mera, Jaime Gonzalez-Sierra

Research output: Contribution to conferencePaper

Abstract

© 2019 IEEE. In this paper a robust tracking control strategy is proposed for Unicycle Mobile Robots (UMRs) under the influence of some disturbances. The proposed strategy is designed taking into account the perturbed kinematic model and it is based on two robust control techniques: Sliding-Mode Control (SMC) and Attractive Ellipsoid Method (AEM). The control of the heading angle is designed by means of a Continuous-SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov Function (BLF) approach. Some simulation results illustrate the performance of the proposed strategy.
Original languageAmerican English
Pages5799-5804
Number of pages6
DOIs
StatePublished - 1 Dec 2019
Externally publishedYes
EventProceedings of the IEEE Conference on Decision and Control -
Duration: 1 Dec 2019 → …

Conference

ConferenceProceedings of the IEEE Conference on Decision and Control
Period1/12/19 → …

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  • Cite this

    Martinez, E. A., Rios, H., Mera, M., & Gonzalez-Sierra, J. (2019). A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach. 5799-5804. Paper presented at Proceedings of the IEEE Conference on Decision and Control, . https://doi.org/10.1109/CDC40024.2019.9029954