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.
|Title of host publication||2019 IEEE 58th Conference on Decision and Control, CDC 2019|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - Dec 2019|
|Event||58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France|
Duration: 11 Dec 2019 → 13 Dec 2019
|Name||Proceedings of the IEEE Conference on Decision and Control|
|Conference||58th IEEE Conference on Decision and Control, CDC 2019|
|Period||11/12/19 → 13/12/19|
Bibliographical notePublisher Copyright:
© 2019 IEEE.
- Robust Control
- Unicycle Robot