Robust Tracking Control for Unicycle Mobile Robots with Input Saturation

The study and control design for Wheeled Mobile Robots (WMRs) has attracted a lot of attention during the last decades. Such an interest is mainly due to the exponential increase of its applications, for example, WMRs are used in military and industrial areas, for exploration, security, mapping, etc.

The design of Robust Tracking Control for WMRs is an important and challenging problem nowadays. To solve the Tracking Task, two Robust Control techniques are used: Continuous-Sliding Mode Control and Attractive Ellipsoid Method.

Movile Robot,Unicycle Robot,Tracking,Robust Control,Control,SMC,WMR,Robotics,Differential Drive,Mechatronics,ITL,Tec Laguna,Control Systems,