Abstract
This work proposes the design of a robust controller for the perturbed kinematic model of the unicycle mobile robot. The controller is based on integral sliding modes (ISMs) and the approximation provided by a differential neural network (DNN) for the tracking error dynamics, represented as an uncertain time-varying linear system. The methodology ensures asymptotic stability for the tracking error despite multiplicative disturbances in the control channel. The ISM compensates for the matched dynamics identified with the DNN. Then, a feedback controller minimizes the effect of unmatched dynamics by solving a set of Linear Matrix Inequalities. Simulation results show the feasibility of the proposed strategy against classical controllers.
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