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 saturated SMC algorithm while the position control is designed by means of the AEM considering a Barrier Lyapunov function (BLF) approach. Simulation results illustrate the performance of the proposed robust controller compared to a classic UMR controller. Finally, some experimental results and comparisons illustrate the performance of the proposed strategy.

中文翻译：

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输入饱和的独轮车移动机器人鲁棒跟踪控制设计

摘要 本文提出了一种在一些扰动影响下的独轮车移动机器人（UMRs）的鲁棒跟踪控制策略。所提出的策略的设计考虑了扰动运动学模型，它基于两种鲁棒控制技术：滑模控制 (SMC) 和有吸引力的椭球法 (AEM)。航向角的控制是通过饱和 SMC 算法设计的，而位置控制是通过考虑障碍李雅普诺夫函数 (BLF) 方法的 AEM 设计的。仿真结果说明了所提出的鲁棒控制器与经典 UMR 控制器相比的性能。最后，一些实验结果和比较说明了所提出策略的性能。