Robust tracking control design for Unicycle Mobile Robots with input saturation

Edgar A. Martínez, Marcelino Hector Rios Zarzosa, Manuel Mera

Research output: Contribution to journalArticlepeer-review

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 languageEnglish
Article number104676
JournalControl Engineering Practice
Volume107
DOIs
StatePublished - Feb 2021
Externally publishedYes

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.

Keywords

  • Input saturation
  • Robust tracking control
  • Unicycle Mobile Robots

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