Omnidirectional mobile robot robust tracking: Sliding-mode output-based control approaches. (April 2019)

• Record Type: Journal Article
• Authors: Ovalle, L.; Ríos, H.; Llama, M.; Santibáñez, V.; Dzul, A.
• Is Part Of: Control engineering practice. Volume 85(2019)
• Page Start: 50
• Page End: 58
• Publication Date: 2019-04
• Subjects: Robust control -- Output-feedback control -- Omnidirectional mobile robot -- Position tracking -- Continuous sliding-mode control; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2019.01.002
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: This work deals with the robust position tracking control problem for an omnidirectional mobile robot. To this aim, four continuous Sliding-Mode Control strategies are presented. The position and orientation of the platform are assumed to be the only available information about the system. To implement the controllers as output-feedback controllers, a High-Order Sliding-Mode Observer is implemented for each output signal. The proposed robust control strategies are able to deal with some classes of external disturbances. The closed-loop stability of each controller is proved by means of Lyapunov functions and homogeneity concepts. Simulations and experiments validate the applicability of the proposed controllers.