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Journal Articles IEEE Transactions on Control Systems Technology Year : 2024

Homogeneity-Based Control Strategy for Trajectory Tracking in Perturbed Unicycle Mobile Robots

Héctor Ríos
Manuel Mera
Gang Zheng
Alejandro Dzul

Abstract

This paper deals with the tracking problem for the Unicycle Mobile Robot (UMR) with slippage effects. A homogeneous controller is developed based on a particular cascade control strategy. The robustness of the closed-loop system is studied. The design is essentially based on the canonical homogeneous norm being a Lyapunov function of the system. The (finite-time or exponential) convergence rate of the homogeneous controller can be tuned by a proper selection of the so-called homogeneity degree. Some experimental results illustrate the performance of the proposed homogeneous control in the UMR QBot2 by Quanser.
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Dates and versions

hal-04390587 , version 1 (12-01-2024)

Identifiers

Cite

Yu Zhou, Héctor Ríos, Manuel Mera, Andrey Polyakov, Gang Zheng, et al.. Homogeneity-Based Control Strategy for Trajectory Tracking in Perturbed Unicycle Mobile Robots. IEEE Transactions on Control Systems Technology, 2024, 32 (1), pp.274-281. ⟨10.1109/TCST.2023.3300273⟩. ⟨hal-04390587⟩
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