TY - JOUR
T1 - Fractional order tracking control of a disturbed differential mobile robot
AU - Aguilar-Pérez, José Ignacio
AU - Duarte-Mermoud, Manuel Armando
AU - Velasco-Villa, Martín
AU - Castro-Linares, Rafael
N1 - Publisher Copyright:
© 2025 Aguilar-Pérez et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
PY - 2025/5
Y1 - 2025/5
N2 - A trajectory tracking problem for a wheeled mobile robot, under skidding and slipping effects, is addressed. A sliding mode control scheme with fractional order reaching dynamics is proposed to solve the problem. The design of the control scheme is based on backstepping and passivity feedback equivalence techniques. The skidding and slipping effects are treated as a part of exogenous disturbances associated to a kinematic model of the robot. A formal study, based on Lyapunov stability theory, is carried out to assure the existence of a sliding surface where trajectory tracking is obtained; the same stability tool is used to study the trajectory tracking error behavior of the closed loop system. The performance of the control scheme is evaluated by means of numerical simulations and experimental results showing a good performance when compared with the corresponding integer order control scheme.
AB - A trajectory tracking problem for a wheeled mobile robot, under skidding and slipping effects, is addressed. A sliding mode control scheme with fractional order reaching dynamics is proposed to solve the problem. The design of the control scheme is based on backstepping and passivity feedback equivalence techniques. The skidding and slipping effects are treated as a part of exogenous disturbances associated to a kinematic model of the robot. A formal study, based on Lyapunov stability theory, is carried out to assure the existence of a sliding surface where trajectory tracking is obtained; the same stability tool is used to study the trajectory tracking error behavior of the closed loop system. The performance of the control scheme is evaluated by means of numerical simulations and experimental results showing a good performance when compared with the corresponding integer order control scheme.
UR - https://www.scopus.com/pages/publications/105006652672
U2 - 10.1371/journal.pone.0321749
DO - 10.1371/journal.pone.0321749
M3 - Article
C2 - 40424324
AN - SCOPUS:105006652672
SN - 1932-6203
VL - 20
JO - PLoS ONE
JF - PLoS ONE
IS - 5 May
M1 - e0321749
ER -