An Integral Sliding-Mode-based Robust Interval Predictive Control for Perturbed Unicycle Mobile Robots

被引：0

作者：

Rios, Hector ^{[1
,3
]}

Mera, Manuel ^{[2
]}

Raissi, Tarek ^{[4
]}

Efimov, Denis ^{[5
,6
]}

机构：

[1] Tecnol Nacl Mexico IT La Laguna, Torreon 27000, Coahuila, Mexico

[2] Inst Politecn Nacl, Sect Grad Studies & Res, ESIME UPT, Cdmx 07340, Mexico

[3] CONAHCYT IxM, Cdmx 03940, Mexico

[4] Conservatoire Natl Arts & Metiers CNAM, Cedr 292,Rue St Martin, F-75141 Paris, France

[5] Univ Lille, INRIA, CNRS, UMR 9189 CRISTAL, F-59000 Lille, France

[6] Informat Technol Mech & Opt Univ, Dept Control Syst & Informat, St Petersburg 197101, Russia

来源：

2023 62ND IEEE CONFERENCE ON DECISION AND CONTROL, CDC | 2023年

关键词：

Unicycle Mobile Robots; Sliding-Mode Control; Model Predictive Control; SYSTEMS; MPC; TRACKING; DESIGN;

D O I：

10.1109/CDC49753.2023.10383445

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper contributes to 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 and a Model Predictive Control (MPC) scheme. The robust controller deals with some perturbations in the kinematic model, 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. Furthermore, the performance of the proposed approach is validated through some simulations.

引用

页码：6978 / 6983

页数：6

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