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

Authors:
Michael Defoort;Thierry Floquet;Annemarie Kokosy;Wilfrid Perruquetti
Affiliations:
LAGIS UMR CNRS 8146, Ecole Centrale de Lille, BP 48, Cite Scientifique, 59 651 Villeneuve-d'Ascq, France. E-mail: {michael.defoort, thierry.floquet, wilfrid.perruquetti}@ec-lille.fr;LAGIS UMR CNRS 8146, Ecole Centrale de Lille, BP 48, Cite Scientifique, 59 651 Villeneuve-d'Ascq, France. E-mail: {michael.defoort, thierry.floquet, wilfrid.perruquetti}@ec-lille.fr;ISEN, 41 bvd Vauban, 59 046 Lille Cedex, France. E-mail: annemarie.kokosy@isen.fr;LAGIS UMR CNRS 8146, Ecole Centrale de Lille, BP 48, Cite Scientifique, 59 651 Villeneuve-d'Ascq, France. E-mail: {michael.defoort, thierry.floquet, wilfrid.perruquetti}@ec-lille.fr
Venue:
Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
Year:
2006

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Abstract

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.