TY - GEN
T1 - An Integral Sliding-Mode Robust Regulation for Constrained Three-Wheeled Omnidirectional Mobile Robots
AU - Gutierrez, Ariana
AU - Mera, Manuel
AU - Rios, Hector
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper proposes a solution to the regulation problem for a three-wheeled omnidirectional mobile robot (OMR) with input saturation, state constraints, parameter uncertainties, and external disturbances. The proposed robust control is composed of a linear and a nonlinear part, which can be designed independently due to the use of an integral sliding-mode control approach. The linear control deals with the input saturation, the state constraints, and the parameter uncertainties, while the nonlinear part is also saturated and can compensate the effect of some matched disturbances. Also, a safe set where the system trajectories do not transgress the state constraints and input saturation is provided. The proposed scheme guarantees asymptotic convergence to zero of the regulation error coping with the system constraints and disturbances. A constructive and simple method, based on linear matrix inequalities (LMIs), is proposed to compute the controller gains. Some simulation results illustrate the feasibility of the proposed scheme.
AB - This paper proposes a solution to the regulation problem for a three-wheeled omnidirectional mobile robot (OMR) with input saturation, state constraints, parameter uncertainties, and external disturbances. The proposed robust control is composed of a linear and a nonlinear part, which can be designed independently due to the use of an integral sliding-mode control approach. The linear control deals with the input saturation, the state constraints, and the parameter uncertainties, while the nonlinear part is also saturated and can compensate the effect of some matched disturbances. Also, a safe set where the system trajectories do not transgress the state constraints and input saturation is provided. The proposed scheme guarantees asymptotic convergence to zero of the regulation error coping with the system constraints and disturbances. A constructive and simple method, based on linear matrix inequalities (LMIs), is proposed to compute the controller gains. Some simulation results illustrate the feasibility of the proposed scheme.
KW - Input Saturation
KW - Mobile Robots
KW - Robust Control
KW - State Constraints
UR - http://www.scopus.com/inward/record.url?scp=85147020585&partnerID=8YFLogxK
U2 - 10.1109/CDC51059.2022.9992781
DO - 10.1109/CDC51059.2022.9992781
M3 - Contribución a la conferencia
AN - SCOPUS:85147020585
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3637
EP - 3642
BT - 2022 IEEE 61st Conference on Decision and Control, CDC 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 61st IEEE Conference on Decision and Control, CDC 2022
Y2 - 6 December 2022 through 9 December 2022
ER -