Omnidirectional mobile robot robust tracking: Sliding-mode output-based control approaches

L. Ovalle, H. Ríos, M. Llama, V. Santibáñez, A. Dzul

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

34 Citas (Scopus)


This work deals with the robust position tracking control problem for an omnidirectional mobile robot. To this aim, four continuous Sliding-Mode Control strategies are presented. The position and orientation of the platform are assumed to be the only available information about the system. To implement the controllers as output-feedback controllers, a High-Order Sliding-Mode Observer is implemented for each output signal. The proposed robust control strategies are able to deal with some classes of external disturbances. The closed-loop stability of each controller is proved by means of Lyapunov functions and homogeneity concepts. Simulations and experiments validate the applicability of the proposed controllers.

Idioma originalInglés
Páginas (desde-hasta)50-58
Número de páginas9
PublicaciónControl Engineering Practice
EstadoPublicada - abr. 2019
Publicado de forma externa

Nota bibliográfica

Publisher Copyright:
© 2019 Elsevier Ltd


Profundice en los temas de investigación de 'Omnidirectional mobile robot robust tracking: Sliding-mode output-based control approaches'. En conjunto forman una huella única.

Citar esto