A Super-Twisting-Based Controller for Trajectory Tracking of Perturbed Unicycle Mobile Robots

Resumen: The aim of this paper is to design a robust controller for the perturbed kinematic model of the Unicycle Mobile Robot. The proposed controller is based on the Super-Twisting algorithm and, given the underactuated nature of the system, two sliding surfaces are proposed to ensure asymptotic convergence of the tracking error to zero, despite the presence of some external disturbances. The synthesis of the proposed controller is given in terms of Linear Matrix Inequalities while the convergence proofs are based on the Lyapunov and Input-to-State Stability theory. Simulation results show the feasibility of the proposed approach.

¿Cómo citar?

Pablo Rochel, Hector Rios & Manuel Mera. A Super-Twisting-Based Controller for Trajectory Tracking of Perturbed Unicycle Mobile Robots. Memorias del Congreso Nacional de Control Automático, pp. 121-126, 2021.

Palabras clave

Mobile robots, trajectory tracking, sliding-modes control

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