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 | |
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