Trajectory tracking for uncertain Unicycle Mobile Robots: A Super-Twisting approach

This work addresses the design of a robust controller for the perturbed kinematic model of the Unicycle Mobile Robot. The proposed controller is based on the Super-Twisting algorithm and, given the underactuated nature of the system, two sliding surfaces are proposed to ensure asymptotic convergence of the tracking error to zero, despite the presence of some external disturbances. The synthesis of the proposed controller is given in terms of Linear Matrix Inequalities while the convergence proofs are based on the Lyapunov and Input-to-State Stability theory. Simulation, experimental results and a comparison with two other controllers show the feasibility of the proposed strategy.