Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5000463 | Control Engineering Practice | 2017 | 11 Pages |
Abstract
This paper presents the design and implementation of an output feedback controller based on the super twisting algorithm (STA) that stabilizes the trajectory tracking error of a skid steered mobile robot (SSMR). The control scheme introduces a diffeomorphism based on the mathematical model of the SSMR to transform the original problem into a third order chain of integrators. In this study, the available measurements are the position and orientation of the SSMR. A modified STA working as a step by step differentiator estimates the velocity and acceleration of the mobile robot. Then, a second STA enforces the tracking of a predefined trajectory. Numerical and experimental results comparing the STA with a state feedback controller (SFC) and a first order sliding mode controller (FOSM) justify the control proposal.
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Aerospace Engineering
Authors
I. Salgado, D. Cruz-Ortiz, O. Camacho, I. Chairez,