Saturated Super-Twisting Control for Trajectory Tracking of A Unicycle Mobile Robot

https://doi.org/10.58571/CNCA.AMCA.2025.010

Resumen: This article presents the design of a robust control strategy applied to a Unicycle Mobile Robot (UMR), which is subject to disturbances caused by wheel slippage, to provide trajectory tracking. By implementing a saturated super-twisting control, the velocity signals of the UMR are guaranteed to remain continuous and within specified maximum bounds. Stability analysis is based on Lyapunov functions and invariant sets, demonstrating that the sliding variables converge to the origin in finite time. The specific design of the sliding variables ensures that the tracking errors asymptotically converge to zero. Consequently, the UMR successfully follows the desired trajectory while satisfying the velocity constraints and dealing with the disturbances.

¿Cómo citar?

Díaz, Y. & Dávila, J. (2025). Saturated Super-Twisting Control for Trajectory Tracking of A Unicycle Mobile Robot. Memorias del Congreso Nacional de Control Automático 2025, pp. 56-61. https://doi.org/10.58571/CNCA.AMCA.2025.010

Palabras clave

Autonomous Vehicles, Sliding Mode control, Mobile Robots, Trajectory Tracking, Saturated Control.

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