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

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

doi:10.1016/j.conengprac.2019.01.002

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 journal › Article › peer-review

24 Scopus citations

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
Pages (from-to)	50-58
Number of pages	9
Journal	Control Engineering Practice
Volume	85
DOIs	https://doi.org/10.1016/j.conengprac.2019.01.002
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

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10.1016/j.conengprac.2019.01.002

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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.",

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AU - Santibáñez, V.

AU - Dzul, A.

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

Abstract

Bibliographical note

Keywords

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