控制理论(社会学)
移动机器人
弹道
控制器(灌溉)
滑模控制
跟踪误差
跟踪(教育)
李雅普诺夫函数
机器人
趋同(经济学)
计算机科学
理论(学习稳定性)
Lyapunov稳定性
模式(计算机接口)
数学
控制工程
工程类
控制(管理)
人工智能
非线性系统
物理
心理学
教育学
天文
量子力学
机器学习
农学
经济
生物
经济增长
操作系统
作者
Héctor Ríos,Manuel Mera,Andrey Polyakov
出处
期刊:IEEE Transactions on Industrial Electronics
[Institute of Electrical and Electronics Engineers]
日期:2024-03-01
卷期号:71 (3): 2864-2872
标识
DOI:10.1109/tie.2023.3270520
摘要
This paper contributes to the design of a second–order sliding–mode controller for the trajectory tracking problem in perturbed unicycle mobile robots. The proposed strategy takes into account the design of two particular sliding variables, which ensure the convergence of the tracking error to the origin in a finite time despite the effect of some external perturbations. The straightforward structure of the controller is simple to tune and implement. The global, uniform and finite–time stability of the closed–loop tracking error dynamics is demonstrated by means of Lyapunov functions. Furthermore, the performance of the proposed approach is validated through some experiments using a QBot2 unicycle mobile robot.
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