TY - JOUR
T1 - Perturbed Unicycle Mobile Robots
T2 - A Second-Order Sliding-Mode Trajectory Tracking Control
AU - Rios, Hector
AU - Mera, Manuel
AU - Polyakov, Andrey
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2024/3/1
Y1 - 2024/3/1
N2 - This article contributes to the design of a second-order sliding-mode controller for the trajectory tracking problem in perturbed unicycle mobile robots. The proposed strategy takes into account the design of two particular sliding variables, which ensure the convergence of the tracking error to the origin in a finite time despite the effect of some external perturbations. The straightforward structure of the controller is simple to tune and implement. The global, uniform, and finite-time stability of the closed-loop tracking error dynamics is demonstrated by means of Lyapunov functions. Furthermore, the performance of the proposed approach is validated through some experiments using a QBot2 unicycle mobile robot.
AB - This article contributes to the design of a second-order sliding-mode controller for the trajectory tracking problem in perturbed unicycle mobile robots. The proposed strategy takes into account the design of two particular sliding variables, which ensure the convergence of the tracking error to the origin in a finite time despite the effect of some external perturbations. The straightforward structure of the controller is simple to tune and implement. The global, uniform, and finite-time stability of the closed-loop tracking error dynamics is demonstrated by means of Lyapunov functions. Furthermore, the performance of the proposed approach is validated through some experiments using a QBot2 unicycle mobile robot.
KW - Sliding-mode control
KW - trajectory tracking
KW - unicycle mobile robots (UMRs)
UR - http://www.scopus.com/inward/record.url?scp=85159841104&partnerID=8YFLogxK
U2 - 10.1109/TIE.2023.3270520
DO - 10.1109/TIE.2023.3270520
M3 - Artículo
AN - SCOPUS:85159841104
SN - 0278-0046
VL - 71
SP - 2864
EP - 2872
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 3
ER -