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

Rochel, Pablo; Ríos, Héctor; Mera, Manuel; Dzul, A.

doi:10.1016/j.conengprac.2022.105078

Cited by 15 publications

(6 citation statements)

References 17 publications

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“…, and then, the matrices A i , with i = 1, 4, are computed by a convex polytopic approach, which guarantees the fulfillment of (10), that is, such that ∑ 4 j=1 𝛼 j (𝜌 1 )A j = A(𝜌 1 ) − A 0 , obtaining…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Therefore, taking into account (10) and substituting ( 17) in (7), the dynamics of the system on the sliding surface is given by ̇e…”

Section: Interval Predictormentioning

confidence: 99%

“…This approach considers some skidding and slipping effects on the wheels, input saturation constraints and guarantees the asymptotic convergence to zero of the tracking error. A robust controller, based on the Super‐Twisting algorithm, was presented in Reference 10, and guarantees asymptotic convergence of the tracking error to zero, despite the presence of some skidding and slipping effects. The proposed controller is continuous but local.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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.

show abstract

Section: Simulation Resultsmentioning

confidence: 99%

“…Therefore, taking into account (10) and substituting ( 17) in (7), the dynamics of the system on the sliding surface is given by ̇e…”

Section: Interval Predictormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

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

Ríos,

Mera,

Raïssi

et al. 2024

Intl J Robust & Nonlinear

Self Cite

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show abstract

“…The proposed approach only ensures asymptotic convergence to a region around the origin for the tracking error. Recently, a robust controller, based on the Super-Twisting algorithm, was presented in [18], which guarantees asymptotic convergence of the tracking error to zero, despite the presence of some skidding and slipping effects. The proposed controller is continuous but local.…”

Section: Introductionmentioning

confidence: 99%

Perturbed Unicycle Mobile Robots: A Second-Order Sliding-Mode Trajectory Tracking Control

Ríos

Mera

Polyakov

2024

IEEE Trans. Ind. Electron.

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This paper contributes to the design of a secondorder 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.

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“…This approach considers some skidding and slipping effects on the wheels, input saturation constraints and guarantees the asymptotic convergence to zero of the tracking error. A robust controller, based on the Super-Twisting algorithm, was presented in [5], and guarantees asymptotic convergence of the tracking error to zero, despite the presence of some skidding and slipping effects. The proposed controller is continuous but local.…”

Section: Introductionmentioning

confidence: 99%

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

Ríos,

Mera,

Raïssi

et al. 2023

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

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

Cited by 15 publications

References 17 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

Perturbed Unicycle Mobile Robots: A Second-Order Sliding-Mode Trajectory Tracking Control

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

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