Trajectory tracking for uncertain Unicycle Mobile Robots: A Super-Twisting approach

Pablo Rochel; Héctor Ríos; Manuel Mera; Alejandro Dzul

doi:10.1016/j.conengprac.2022.105078

Trajectory tracking for uncertain Unicycle Mobile Robots: A Super-Twisting approach

Pablo Rochel, Héctor Ríos, Manuel Mera, Alejandro Dzul

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

1 Scopus citations

Abstract

This work addresses the design of a robust controller for the perturbed kinematic model of the Unicycle Mobile Robot. The proposed controller is based on the Super-Twisting algorithm and, given the underactuated nature of the system, two sliding surfaces are proposed to ensure asymptotic convergence of the tracking error to zero, despite the presence of some external disturbances. The synthesis of the proposed controller is given in terms of Linear Matrix Inequalities while the convergence proofs are based on the Lyapunov and Input-to-State Stability theory. Simulation, experimental results and a comparison with two other controllers show the feasibility of the proposed strategy.

Original language	English
Article number	105078
Journal	Control Engineering Practice
Volume	122
DOIs	https://doi.org/10.1016/j.conengprac.2022.105078
State	Published - May 2022
Externally published	Yes

Bibliographical note

Funding Information:
The authors gratefully acknowledge the financial support from TecNM projects , from CONACYT, Mexico CVU 1011063 , from Cátedras CONACYT CVU 270504 Project 922 , and from SIP-IPN Project 20210351 . This work was also supported in part by the SEP-CONACYT-ECOS-ANUIES under Grant 315597 .

Funding Information:
The authors gratefully acknowledge the financial support from TecNM projects, from CONACYT, MexicoCVU 1011063, from C?tedras CONACYTCVU 270504 Project 922, and from SIP-IPN Project 20210351. This work was also supported in part by the SEP-CONACYT-ECOS-ANUIES under Grant 315597.

Publisher Copyright:
© 2022 Elsevier Ltd

Keywords

Mobile robots
Sliding-modes control
Trajectory tracking

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10.1016/j.conengprac.2022.105078

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abstract = "This work addresses the design of a robust controller for the perturbed kinematic model of the Unicycle Mobile Robot. The proposed controller is based on the Super-Twisting algorithm and, given the underactuated nature of the system, two sliding surfaces are proposed to ensure asymptotic convergence of the tracking error to zero, despite the presence of some external disturbances. The synthesis of the proposed controller is given in terms of Linear Matrix Inequalities while the convergence proofs are based on the Lyapunov and Input-to-State Stability theory. Simulation, experimental results and a comparison with two other controllers show the feasibility of the proposed strategy.",

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Trajectory tracking for uncertain Unicycle Mobile Robots: A Super-Twisting approach

Abstract

Bibliographical note

Keywords

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