A Robust Tracking Control for Unicycle Mobile Robots: An Attractive Ellipsoid Approach

Abstract

In this paper a robust tracking control strategy is proposed for Unicycle Mobile Robots (UMRs) under the influence of some disturbances. The proposed strategy is designed taking into account the perturbed kinematic model and it is based on two robust control techniques: Sliding-Mode Control (SMC) and Attractive Ellipsoid Method (AEM). The control of the heading angle is designed by means of a Continuous-SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov Function (BLF) approach. Some simulation results illustrate the performance of the proposed strategy.