TY - JOUR
T1 - Output feedback control of a skid-steered mobile robot based on the super-twisting algorithm
AU - Salgado, I.
AU - Cruz-Ortiz, D.
AU - Camacho, O.
AU - Chairez, I.
N1 - Publisher Copyright:
© 2016 Elsevier Ltd
PY - 2017/1/1
Y1 - 2017/1/1
N2 - 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.
AB - 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.
KW - Output based controller
KW - Skid steered mobile robot
KW - Step-by-step robust differentiation
KW - Super twisting algorithm
UR - http://www.scopus.com/inward/record.url?scp=84995495582&partnerID=8YFLogxK
U2 - 10.1016/j.conengprac.2016.10.003
DO - 10.1016/j.conengprac.2016.10.003
M3 - Artículo
SN - 0967-0661
VL - 58
SP - 193
EP - 203
JO - Control Engineering Practice
JF - Control Engineering Practice
ER -