Abstract
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 language | English |
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Pages (from-to) | 50-58 |
Number of pages | 9 |
Journal | Control Engineering Practice |
Volume | 85 |
DOIs | |
State | Published - Apr 2019 |
Externally published | Yes |
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.
Keywords
- Continuous sliding-mode control
- Omnidirectional mobile robot
- Output-feedback control
- Position tracking
- Robust control