Robust tracking control design for Unicycle Mobile Robots with input saturation

Edgar A. Martínez; Héctor Ríos; Manuel Mera

doi:10.1016/j.conengprac.2020.104676

Robust tracking control design for Unicycle Mobile Robots with input saturation

Edgar A. Martínez, Héctor Ríos, Manuel Mera

Research output: Contribution to journal › Article › peer-review

7 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 saturated SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov function (BLF) approach. Simulation results illustrate the performance of the proposed robust controller compared to a classic UMR controller. Finally, some experimental results and comparisons illustrate the performance of the proposed strategy.

Original language	English
Article number	104676
Journal	Control Engineering Practice
Volume	107
DOIs	https://doi.org/10.1016/j.conengprac.2020.104676
State	Published - Feb 2021

Bibliographical note

Funding Information:
The authors gratefully acknowledge the financial support from TecNM projects, Mexico , from CONACYT, Mexico CVU 863047 , Cátedras CONACYT CVU 270504 project 922, and from SIP-IPN, Mexico project 20190196 .

Funding Information:
The authors gratefully acknowledge the financial support from TecNM projects, Mexico, from CONACYT, MexicoCVU 863047, C?tedras CONACYTCVU 270504 project 922, and from SIP-IPN, Mexico project 20190196.

Publisher Copyright:
© 2020 Elsevier Ltd

Keywords

Input saturation
Robust tracking control
Unicycle Mobile Robots

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10.1016/j.conengprac.2020.104676

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title = "Robust tracking control design for Unicycle Mobile Robots with input saturation",

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 saturated SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov function (BLF) approach. Simulation results illustrate the performance of the proposed robust controller compared to a classic UMR controller. Finally, some experimental results and comparisons illustrate the performance of the proposed strategy.",

keywords = "Input saturation, Robust tracking control, Unicycle Mobile Robots",

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AU - Martínez, Edgar A.

AU - Ríos, Héctor

AU - Mera, Manuel

PY - 2021/2

Y1 - 2021/2

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 saturated SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov function (BLF) approach. Simulation results illustrate the performance of the proposed robust controller compared to a classic UMR controller. Finally, some experimental results and comparisons 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 saturated SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov function (BLF) approach. Simulation results illustrate the performance of the proposed robust controller compared to a classic UMR controller. Finally, some experimental results and comparisons illustrate the performance of the proposed strategy.

KW - Input saturation

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VL - 107

JO - Control Engineering Practice

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Robust tracking control design for Unicycle Mobile Robots with input saturation

Abstract

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Keywords

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