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

L. Ovalle, Marcelino Hector Rios Zarzosa, M. Llama, V. Santibáñez, A. Dzul

Resultado de la investigación: Contribución a una revistaArtículorevisión exhaustiva

10 Citas (Scopus)

Resumen

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
Volumen85
DOI
EstadoPublicada - abr 2019
Publicado de forma externa

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