Integral sliding mode control for trajectory tracking of a unicycle type mobile robot

Michael Defoort (1) , Thierry Floquet (2, 3) , Annemarie Kokosy (1, 4) , Wilfrid Perruquetti (2, 3)

1 LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
2 NON-A - Non-Asymptotic estimation for online systems
3 SyNeR - Systèmes Non Linéaires et à Retards
4 Institut supérieur de l'électronique et du numérique (ISEN)

This paper deals with the tracking control for nonholonomic mobile robots in the presence of matched and unmatched perturbations. The controller synthesis is based on the differential flatness property and integral sliding mode control. The wheel actuators dynamics are taken into account. It is shown that the proposed scheme provides satisfactory performances and is robust to bounded external disturbances. Simulations illustrate the results on a unicycle type mobile robot.

Domaines: Automatique

Michael Defoort, Thierry Floquet, Annemarie Kokosy, Wilfrid Perruquetti. Integral sliding mode control for trajectory tracking of a unicycle type mobile robot. Integrated Computer-Aided Engineering, 2006, 13 (3), pp.277-288. ⟨hal-00762278⟩