Robust tracking control design for Unicycle Mobile Robots with input saturation

Edgar A. Martínez; Héctor Ríos; Manuel Mera

doi:10.1016/j.conengprac.2020.104676

Robust tracking control design for Unicycle Mobile Robots with input saturation

Edgar A. Martínez, Héctor Ríos, Manuel Mera

Unidad Profesional Interdisciplinaria de Biotecnología (UPIBI)

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

17 Scopus citations

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 saturated SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov function (BLF) approach. Simulation results illustrate the performance of the proposed robust controller compared to a classic UMR controller. Finally, some experimental results and comparisons illustrate the performance of the proposed strategy.

Original language	English
Article number	104676
Journal	Control Engineering Practice
Volume	107
DOIs	https://doi.org/10.1016/j.conengprac.2020.104676
State	Published - Feb 2021

Keywords

Input saturation
Robust tracking control
Unicycle Mobile Robots

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10.1016/j.conengprac.2020.104676

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title = "Robust tracking control design for Unicycle Mobile Robots with input saturation",

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 saturated SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov function (BLF) approach. Simulation results illustrate the performance of the proposed robust controller compared to a classic UMR controller. Finally, some experimental results and comparisons illustrate the performance of the proposed strategy.",

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AU - Martínez, Edgar A.

AU - Ríos, Héctor

AU - Mera, Manuel

PY - 2021/2

Y1 - 2021/2

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 saturated SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov function (BLF) approach. Simulation results illustrate the performance of the proposed robust controller compared to a classic UMR controller. Finally, some experimental results and comparisons 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 saturated SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov function (BLF) approach. Simulation results illustrate the performance of the proposed robust controller compared to a classic UMR controller. Finally, some experimental results and comparisons illustrate the performance of the proposed strategy.

KW - Input saturation

KW - Robust tracking control

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DO - 10.1016/j.conengprac.2020.104676

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VL - 107

JO - Control Engineering Practice

JF - Control Engineering Practice

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ER -

Robust tracking control design for Unicycle Mobile Robots with input saturation

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Keywords

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