Abstract In this work a tracking robust algorithm for the perturbed kinematic model of an Unicycle Mobile Robot (UMR) is proposed. The control design is based on the well-known first order sliding mode control approach, with a modification that helps to reduce the chattering effect. This strategy takes into account perturbations and consider any admissible (with respect to the nonholonomic constraints) smooth reference trajectory, ensuring the convergence of the tracking error dynamics to the origin asymptotically. The resulting control input is a discontinuous switched function. Its implementability is validated through experiments using a QBot2 and compared with standard well-established control design methods for this problem.

中文翻译：

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一种基于滑模的控制器，用于扰动独轮车移动机器人的轨迹跟踪

摘要 在这项工作中，提出了一种用于独轮车移动机器人(UMR) 扰动运动学模型的跟踪鲁棒算法。控制设计基于众所周知的一阶滑模控制方法，并进行了有助于减少颤振效应的修改。该策略考虑了扰动并考虑了任何可接受的（相对于非完整约束）平滑参考轨迹，确保跟踪误差动力学渐近收敛到原点。由此产生的控制输入是一个不连续的切换函数。它的可实施性通过使用 QBot2 的实验得到验证，并与针对该问题的标准完善的控制设计方法进行比较。