Robust tracking control design for Unicycle Mobile Robots with input saturation

被引：17

作者：

Martinez, Edgar A. ^{[1
]}

Rios, Hector ^{[1
,2
]}

Mera, Manuel ^{[3
]}

机构：

[1] Tecnol Nacl Mexico, Div Estudios Posgrad & Invest, IT La Laguna, Blvd Revoluc & Cuauhtemoc S-N, Torreon 27000, Coahuila, Mexico

[2] Catedras CONACYT, Av Insurgentes Sur 1582, Ciudad De Mexico 03940, Mexico

[3] Inst Politecn Nacl, ESIME, Av Ticoman 600, Ciudad De Mexico 07340, Mexico

来源：

CONTROL ENGINEERING PRACTICE | 2021年 / 107卷

关键词：

Unicycle Mobile Robots; Robust tracking control; Input saturation; BARRIER LYAPUNOV FUNCTIONS; TIME OBSTACLE AVOIDANCE; ACTUATOR SATURATION; MECHANICAL SYSTEMS; STATE CONSTRAINTS; ADAPTIVE-CONTROL; FEEDBACK; SUBJECT; MODEL;

D O I：

10.1016/j.conengprac.2020.104676

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页数：11

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