An Integral Sliding-Mode-Based Robust Interval Predictive Control for Perturbed Unicycle Mobile Robots

Ríos, Héctor; Mera, Manuel; Raïssi, Tarek; Efimov, Denis

doi:10.1109/cdc49753.2023.10383445

2023 62nd IEEE Conference on Decision and Control (CDC) 2023

DOI: 10.1109/cdc49753.2023.10383445

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An Integral Sliding-Mode-Based Robust Interval Predictive Control for Perturbed Unicycle Mobile Robots

Héctor Ríos,

Manuel Mera,

Tarek Raïssi

et al.

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2024

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Robust interval predictive tracking control for constrained and perturbed unicycle mobile robots

Ríos,

Mera,

Raïssi

et al. 2024

Intl J Robust & Nonlinear

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In this paper, we propose the design of a robust control strategy for the trajectory tracking problem in perturbed unicycle mobile robots. The proposed strategy comprises the design of a robust control law, which is based on an Integral Sliding‐Mode Control (ISMC) approach together with an interval predictor‐based state‐feedback controller through a Model Predictive Control (MPC) scheme. The robust controller deals with some perturbations in the kinematic model, which represent slipping effects, and with state and input constraints that are related to restrictions on the workspace and saturated actuators, respectively. The proposed approach guarantees the exponential convergence to zero of the tracking error. The performance of the proposed approach is validated through some simulations tracking a lemniscate and a circumference curve.

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Robust interval predictive tracking control for constrained and perturbed unicycle mobile robots

Ríos,

Mera,

Raïssi

et al. 2024

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

show abstract

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An Integral Sliding-Mode-Based Robust Interval Predictive Control for Perturbed Unicycle Mobile Robots

Cited by 1 publication

References 21 publications

Robust interval predictive tracking control for constrained and perturbed unicycle mobile robots

Robust interval predictive tracking control for constrained and perturbed unicycle mobile robots

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