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Output feedback control of a skid-steered mobile robot based on the super-twisting algorithm

Affiliation:	1. Centro de Innovación y Desarrollo Tecnológico en Cómputo, Instituto Politécnico Nacional, Mexico;2. Automatic Control Department, Centro de Investigación y Estudios Avanzados del Instituto Politécnico Nacional, Mexico;3. Departamento de Bioprocesos, Unidad Profesional Interdisciplinaria de Biotecnología, Instituto Politécnico Nacional, Mexico;1. Department of Automatic Control, CINVESTAV-IPN, Mexico City Mexico;2. Department of Bioprocesses, UPIBI-Instituto Politécnico Nacional, Mexico City Mexico;1. CIDETEC (Centro de Innovación y Desarrollo Tecnológico en Cómputo), IPN (Instituto Politécnico Nacional), Mexico City, CDMX, Mexico;2. UPIBI (Unidad Profesional Interdisciplinaria de Biotecnología), IPN, Mexico City, Mexico;3. Tecnologico de Monterrey, School of Engineering and Sciences, Zapopan, Jalisco, Mexico;1. Centro de Innovación y Desarrollo Tecnológico en Cómputo, Instituto Politécnico Nacional, Z.C. 07700, Mexico City, Mexico;2. Medical Robotics and biosignal processing Laboratory, Unidad Profesional Interdisciplinaria de Biotecnología, Instituto Politécnico Nacional, Z.C. 07340, Mexico City, Mexico;3. Escuela Superior de Ingeniería Química e Industrias extractivas - Instituto Politécnico Nacional, Z.C. 07700, Mexico City, Mexico;4. Tecnologico de Monterrey, School of Engineering and Sciences, Guadalajara, Mexico

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.

Keywords:	Skid steered mobile robot Super twisting algorithm Output based controller Step-by-step robust differentiation
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