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Journal Articles IEEE Transactions on Industrial Electronics Year : 2023

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

Abstract

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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Dates and versions

hal-04072004 , version 1 (17-04-2023)

Identifiers

Cite

Héctor Ríos, Manuel Mera, Andrey Polyakov. Perturbed Unicycle Mobile Robots: A Second-Order Sliding-Mode Trajectory Tracking Control. IEEE Transactions on Industrial Electronics, 2023, pp.1-9. ⟨10.1109/TIE.2023.3270520⟩. ⟨hal-04072004⟩
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