© 2019 Elsevier Ltd This work deals with the robust position tracking control problem for an omnidirectional mobile robot. To this aim, four continuous Sliding-Mode Control strategies are presented. The position and orientation of the platform are assumed to be the only available information about the system. To implement the controllers as output-feedback controllers, a High-Order Sliding-Mode Observer is implemented for each output signal. The proposed robust control strategies are able to deal with some classes of external disturbances. The closed-loop stability of each controller is proved by means of Lyapunov functions and homogeneity concepts. Simulations and experiments validate the applicability of the proposed controllers.
Ovalle, L., Ríos, H., Llama, M., Santibáñez, V., & Dzul, A. (2019). Omnidirectional mobile robot robust tracking: Sliding-mode output-based control approaches. Control Engineering Practice, 50-58. https://doi.org/10.1016/j.conengprac.2019.01.002