Robust tracking control design for Unicycle Mobile Robots with input saturation

Martínez, Edgar A.; Ríos, Héctor; Mera, Manuel

doi:10.1016/j.conengprac.2020.104676

Cited by 18 publications

(2 citation statements)

References 28 publications

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“…Nevertheless, the proposed approach is computationally complex and the considered additive perturbations lack physical meaning. In [17], two robust control techniques, i.e., sliding-mode control and the attractive ellipsoid method, are used to deal with the trajectory tracking problem in perturbed UMRs. The proposed approach only ensures asymptotic convergence to a region around the origin for the tracking error.…”

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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Section: Introductionmentioning

confidence: 99%

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

Ríos

Mera

Polyakov

2024

IEEE Trans. Ind. Electron.

Self Cite

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“…Then, in [ 33 ], the visual tracking of a mobile robot is performed with the saturated inputs of velocity and acceleration. In [ 34 ], the robust control tracking design of a mobile robot with input saturation is presented.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot

Cardona

Serrano

2023

Sensors

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This paper presents the design and synthesis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First, the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasible representation of this kind of robot. Then, two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control; this means that considering that the velocity vector of the mobile robot is orthogonal to its restriction, a dynamic output feedback and neural network controller is designed so that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then, another control strategy is designed for trajectory-tracking purposes, in which similar to the driftless controller, a kinematic control scheme is provided that is suitable to implement in more sophisticated hardware. In both control strategies, a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory, the stability and convergence to the origin of the mobile robot position coordinates are ensured. Finally, two numerical experiments are presented in order to validate the theoretical results synthesized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.

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Adaptive NN-based finite-time trajectory tracking control of wheeled robotic systems

Jin

Zhao

et al. 2021

Neural Comput & Applic

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Robust tracking control design for Unicycle Mobile Robots with input saturation

Cited by 18 publications

References 28 publications

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

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

Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot

Adaptive NN-based finite-time trajectory tracking control of wheeled robotic systems

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