Trajectory tracking for uncertain Unicycle Mobile Robots: A Super-Twisting approach

This work addresses the design of a robust controller for the perturbed kinematic model of the Unicycle MobileRobot. The proposed controller is based on the Super-Twisting algorithm and, given the underactuated natureof the system, two sliding surfaces are proposed to ensure asymptotic convergence of the tracking error to zero,despite the presence of some external disturbances. The synthesis of the proposed controller is given in terms ofLinear Matrix Inequalities while the convergence proofs are based on the Lyapunov and Input-to-State Stabilitytheory. Simulation, experimental results and a comparison with two other controllers show the feasibility ofthe proposed strategy.