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

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

doi:10.1109/CDC40024.2019.9029954

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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

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 language	English
Title of host publication	2019 IEEE 58th Conference on Decision and Control, CDC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5799-5804
Number of pages	6
ISBN (Electronic)	9781728113982
DOIs	https://doi.org/10.1109/CDC40024.2019.9029954
State	Published - Dec 2019
Event	58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France Duration: 11 Dec 2019 → 13 Dec 2019

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2019-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	58th IEEE Conference on Decision and Control, CDC 2019
Country/Territory	France
City	Nice
Period	11/12/19 → 13/12/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

Robust Control
Tracking
Unicycle Robot

Access to Document

10.1109/CDC40024.2019.9029954

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. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 5799-5804). Article 9029954 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC40024.2019.9029954

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abstract = "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.",

keywords = "Robust Control, Tracking, Unicycle Robot",

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year = "2019",

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Martinez, EA, Rios, H, Mera, M & Gonzalez-Sierra, J 2019, A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach. in 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9029954, Proceedings of the IEEE Conference on Decision and Control, vol. 2019-December, Institute of Electrical and Electronics Engineers Inc., pp. 5799-5804, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, France, 11/12/19. https://doi.org/10.1109/CDC40024.2019.9029954

A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach. / Martinez, Edgar A.; Rios, Hector; Mera, Manuel et al.
2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 5799-5804 9029954 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - 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.

AB - 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.

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Martinez EA, Rios H, Mera M, Gonzalez-Sierra J. A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 5799-5804. 9029954. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC40024.2019.9029954

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

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