Abstract
In this paper we present the design of a robust controller for nonholonomic differential wheeled mobile robot moving on the plane and subject to constant unknown disturbances. The proposed controller is smooth, time-variant and has a (simple) PID-like structure. Also, as analytically proved, it achieves global asymptotic convergence to zero of the position and orientation (regulation) errors despite the perturbations. Realistic simulations in the Gazebo-ROS environment validate the effectiveness of our approach.
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Funding
Partial financial support was received from the following institutions.
Funder 1: Consejo Nacional de Ciencia y Tecnología. Country: Mexico. Award Number: CB-282807. Grant Recipient: E. Nuño.
Funder 2: Asociación Mexicana de Cultura, A.C. Country: Mexico. Award Number: Not applicable Grant Recipient: J.G. Romero and R. Cisneros.
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JGR: Conceptualization, Formal Analysis, Writing ∙ EN: Formal Analysis, Writing ∙ ER: Writing, Simulation ∙RC: Writing, Simulation ∙ MM: Writing, Simulation.
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This article is supported by the Asociación Mexicana de Cultura A.C and by the Mexican CONACyT Basic Scientific Research grant CB-282807.
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Romero, J.G., Nuño, E., Restrepo, E. et al. A Smooth Time–Varying PID Controller for Nonholonomic Mobile Robots Subject to Matched Disturbances. J Intell Robot Syst 105, 13 (2022). https://doi.org/10.1007/s10846-022-01622-3
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DOI: https://doi.org/10.1007/s10846-022-01622-3