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

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

doi:10.1109/CDC40024.2019.9029954

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 congreso › Contribución a la conferencia › revisión exhaustiva

3 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 original	Inglés
Título de la publicación alojada	2019 IEEE 58th Conference on Decision and Control, CDC 2019
Editorial	Institute of Electrical and Electronics Engineers Inc.
Páginas	5799-5804
Número de páginas	6
ISBN (versión digital)	9781728113982
DOI	https://doi.org/10.1109/CDC40024.2019.9029954
Estado	Publicada - dic. 2019
Evento	58th IEEE Conference on Decision and Control, CDC 2019 - Nice, Francia Duración: 11 dic. 2019 → 13 dic. 2019

Serie de la publicación

Nombre	Proceedings of the IEEE Conference on Decision and Control
Volumen	2019-December
ISSN (versión impresa)	0743-1546
ISSN (versión digital)	2576-2370

Conferencia

Conferencia	58th IEEE Conference on Decision and Control, CDC 2019
País/Territorio	Francia
Ciudad	Nice
Período	11/12/19 → 13/12/19

Nota bibliográfica

Publisher Copyright:
© 2019 IEEE.

Acceder al documento

10.1109/CDC40024.2019.9029954

Otros archivos y enlaces

Enlace a la publicación en Scopus

Citar esto

Martinez, E. A., Rios, H., Mera, M., & Gonzalez-Sierra, J. (2019). A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach. En 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 5799-5804). [9029954] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC40024.2019.9029954

@inproceedings{c9f85603bb4347eb92d3f237947292c0,

title = "A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach",

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 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.",

keywords = "Robust Control, Tracking, Unicycle Robot",

author = "Martinez, {Edgar A.} and Hector Rios and Manuel Mera and Jaime Gonzalez-Sierra",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; null ; Conference date: 11-12-2019 Through 13-12-2019",

year = "2019",

month = dec,

doi = "10.1109/CDC40024.2019.9029954",

language = "Ingl{\'e}s",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "5799--5804",

booktitle = "2019 IEEE 58th Conference on Decision and Control, CDC 2019",

address = "Estados Unidos",

}

Martinez, EA, Rios, H, Mera, M & Gonzalez-Sierra, J 2019, A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach. En 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9029954, Proceedings of the IEEE Conference on Decision and Control, vol. 2019-December, Institute of Electrical and Electronics Engineers Inc., pp. 5799-5804, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, Francia, 11/12/19. https://doi.org/10.1109/CDC40024.2019.9029954

A Robust Tracking Control for Unicycle Mobile Robots : An Attractive Ellipsoid Approach. / Martinez, Edgar A.; Rios, Hector; Mera, Manuel et al.

2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 5799-5804 9029954 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).

Resultado de la investigación: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

TY - GEN

T1 - A Robust Tracking Control for Unicycle Mobile Robots

AU - Martinez, Edgar A.

AU - Rios, Hector

AU - Mera, Manuel

AU - Gonzalez-Sierra, Jaime

PY - 2019/12

Y1 - 2019/12

N2 - 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.

AB - 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.

KW - Robust Control

KW - Tracking

KW - Unicycle Robot

UR - http://www.scopus.com/inward/record.url?scp=85082472131&partnerID=8YFLogxK

U2 - 10.1109/CDC40024.2019.9029954

DO - 10.1109/CDC40024.2019.9029954

M3 - Contribución a la conferencia

AN - SCOPUS:85082472131

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 5799

EP - 5804

BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 11 December 2019 through 13 December 2019

ER -

Martinez EA, Rios H, Mera M, Gonzalez-Sierra J. A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach. En 2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 5799-5804. 9029954. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC40024.2019.9029954

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

Resumen

Serie de la publicación

Conferencia

Nota bibliográfica

Acceder al documento

Otros archivos y enlaces

Huella

Citar esto