Output feedback control of a skid-steered mobile robot based on the super-twisting algorithm

I. Salgado; D. Cruz-Ortiz; O. Camacho; I. Chairez

doi:10.1016/j.conengprac.2016.10.003

Output feedback control of a skid-steered mobile robot based on the super-twisting algorithm

I. Salgado, D. Cruz-Ortiz, O. Camacho, I. Chairez

Research output: Contribution to journal › Article › peer-review

32 Scopus citations

Abstract

This paper presents the design and implementation of an output feedback controller based on the super twisting algorithm (STA) that stabilizes the trajectory tracking error of a skid steered mobile robot (SSMR). The control scheme introduces a diffeomorphism based on the mathematical model of the SSMR to transform the original problem into a third order chain of integrators. In this study, the available measurements are the position and orientation of the SSMR. A modified STA working as a step by step differentiator estimates the velocity and acceleration of the mobile robot. Then, a second STA enforces the tracking of a predefined trajectory. Numerical and experimental results comparing the STA with a state feedback controller (SFC) and a first order sliding mode controller (FOSM) justify the control proposal.

Original language	English
Pages (from-to)	193-203
Number of pages	11
Journal	Control Engineering Practice
Volume	58
DOIs	https://doi.org/10.1016/j.conengprac.2016.10.003
State	Published - 1 Jan 2017

Keywords

Output based controller
Skid steered mobile robot
Step-by-step robust differentiation
Super twisting algorithm

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10.1016/j.conengprac.2016.10.003

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title = "Output feedback control of a skid-steered mobile robot based on the super-twisting algorithm",

abstract = "This paper presents the design and implementation of an output feedback controller based on the super twisting algorithm (STA) that stabilizes the trajectory tracking error of a skid steered mobile robot (SSMR). The control scheme introduces a diffeomorphism based on the mathematical model of the SSMR to transform the original problem into a third order chain of integrators. In this study, the available measurements are the position and orientation of the SSMR. A modified STA working as a step by step differentiator estimates the velocity and acceleration of the mobile robot. Then, a second STA enforces the tracking of a predefined trajectory. Numerical and experimental results comparing the STA with a state feedback controller (SFC) and a first order sliding mode controller (FOSM) justify the control proposal.",

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Output feedback control of a skid-steered mobile robot based on the super-twisting algorithm

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Keywords

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