Titre :

Robust Interval Predictive Tracking Control for Constrained and Perturbed Unicycle Mobile Robots

Auteur(s) :

Ríos, Hector [Auteur]
Tecnológico Nacional de México [TecNM]
Mera, Manuel [Auteur]
Instituto Politecnico Nacional [Mexico] [IPN]
Raïssi, Tarek [Auteur]
CEDRIC. Traitement du signal et architectures électroniques [CEDRIC - LAETITIA]
Efimov, Denis [Auteur]
Finite-time control and estimation for distributed systems [VALSE]

Titre de la revue :

International Journal of Robust and Nonlinear Control

Éditeur :

Wiley

Date de publication :

2024

ISSN :

1049-8923

Mot(s)-clé(s) en anglais :

Unicycle Mobile Robots
Sliding-Mode Control
Model Predictive Control

Discipline(s) HAL :

Informatique [cs]/Automatique

Résumé en anglais : [en]

In this paper, we propose the design of a robust control strategy for the trajectory tracking problem in perturbed unicycle mobile robots. The proposed strategy comprises the design of a robust control law, which is based ...
Lire la suite >In this paper, we propose the design of a robust control strategy for the trajectory tracking problem in perturbed unicycle mobile robots. The proposed strategy comprises the design of a robust control law, which is based on an Integral Sliding–Mode Control (ISMC) approach together with an interval predictor–based state–feedback controller through a Model Predictive Control (MPC) scheme. The robust controller deals with some perturbations in the kinematic model, which represent slipping effects, and with state and input constraints that are related to restrictions on the workspace and saturated actuators, respectively. The proposed approach guarantees the exponential convergence to zero of the tracking error. The performance of the proposed approach is validated through some simulations tracking a lemniscate and a circumference curve.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL