A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach

Edgar A. Martinez, Hector Rios, Manuel Mera, Jaime Gonzalez-Sierra

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

2 Citas (Scopus)

Resumen

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 Continuous-SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov Function (BLF) approach. Some simulation results illustrate the performance of the proposed strategy.

Idioma originalInglés
Título de la publicación alojada2019 IEEE 58th Conference on Decision and Control, CDC 2019
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas5799-5804
Número de páginas6
ISBN (versión digital)9781728113982
DOI
EstadoPublicada - dic 2019
Evento58th IEEE Conference on Decision and Control, CDC 2019 - Nice, Francia
Duración: 11 dic 201913 dic 2019

Serie de la publicación

NombreProceedings of the IEEE Conference on Decision and Control
Volumen2019-December
ISSN (versión impresa)0743-1546

Conferencia

Conferencia58th IEEE Conference on Decision and Control, CDC 2019
País/TerritorioFrancia
CiudadNice
Período11/12/1913/12/19

Nota bibliográfica

Publisher Copyright:
© 2019 IEEE.

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