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 |
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Article number | 104676 |
Journal | Control Engineering Practice |
Volume | 107 |
DOIs | |
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