Title :

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

Author(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]

Journal title :

International Journal of Robust and Nonlinear Control

Publisher :

Wiley

Publication date :

2024

ISSN :

1049-8923

English keyword(s) :

Unicycle Mobile Robots
Sliding-Mode Control
Model Predictive Control

HAL domain(s) :

Informatique [cs]/Automatique

English abstract : [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 ...
Show more >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.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

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

Source :

Harvested from HAL