Omnidirectional mobile robot robust tracking: Sliding-mode output-based control approaches

L. Ovalle, Marcelino Hector Rios Zarzosa, M. Llama, V. Santibáñez, A. Dzul

Research output: Contribution to journalArticlepeer-review

32 Scopus citations


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.

Original languageEnglish
Pages (from-to)50-58
Number of pages9
JournalControl Engineering Practice
StatePublished - Apr 2019
Externally publishedYes

Bibliographical note

Funding Information:
The authors gratefully acknowledge the financial support from TecNM research projects. L. Ovalle and H. Ríos also acknowledge the financial support from CONACYT, Mexico , 591548 and 270504 , respectively.


  • Continuous sliding-mode control
  • Omnidirectional mobile robot
  • Output-feedback control
  • Position tracking
  • Robust control


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