Ríos, Héctor | Tecnológico Nacional de México/I.T. La Laguna |
Mera, Manuel | Instituto Politécnico Nacional |
Raïssi, Tarek | Conservatoire National des Arts et Métiers |
Efimov, Denis | Information Technologies Mechanics and Optics University |
https://doi.org/10.58571/CNCA.AMCA.2023.099
Resumen: In this paper, we design a robust control strategy to solve the trajectory-tracking problem for perturbed unicycle mobile robots. The design is composed of an Integral Sliding-Mode Control, an interval predictor-based state-feedback controller and a Model Predictive Control. The controller handles some perturbations in the kinematic model, and state and input constraints that are related to workspace constraints and saturation on the actuators, respectively. The proposed approach ensures the exponential convergence to zero of the tracking error. Some simulation results illustrate the performance of the proposed approach.
![A Robust Interval Predictive Control for Perturbed Unicycle Mobile Robots](/wp-content/uploads/2022/04/logotipo_amca100.png)
¿Cómo citar?
Ríos, Héctor; Mera, Manuel; Raïssi, Tarek; Efimov, Denis. A Robust Interval Predictive Control for Perturbed Unicycle Mobile Robots. Memorias del Congreso Nacional de Control Automático, pp. 574-579, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.099
Palabras clave
Control de Sistemas No Lineales; Robótica y Mecatrónica; Control Discontinuo (modos deslizantes)
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