A Robust Interval Predictive Control for Perturbed Unicycle Mobile Robots

Abstract

In this paper, we design a robust control strategy to solve the trajectory-tracking problem for perturbed unicycle mobile robots. The design is composed of an Integral Sliding-Mode Control, an interval predictor-based state-feedback controller and a Model Predictive Control. The controller handles some perturbations in the kinematic model, and state and input constraints that are related to workspace constraints and saturation on the actuators, respectively. The proposed approach ensures the exponential convergence to zero of the tracking error. Some simulation results illustrate the performance of the proposed approach.