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	Conference: XI Jornadas Argentinas de RobóticaAt: Centro Atómico Bariloche (Volume 1&nbsp;/2023)
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Link

Link - https://www.researchgate.net/publication/366921520

This work presents a robust control strategy that allows an adequate tracking of position and orientation reference trajectories for omnidirectional three-wheeled mobile robots. The outlined control scheme is based on the design of a Higher-Order Sliding Mode Observer (HOSMO) to estimate disturbances, model uncertainties, and unmodeled dynamics of the robot, assumed grouped into a state variable that is then feedback by the control law to cancel it. Super Twisting (ST) and classical Generalized Proportional Integral (GPI) control laws are used here with the designed observer, and performance of both is compared through simulations with a virtual multi-body dynamic model, integrating ADAMS and MATLAB.

Buscador UdeSA

Super Twisting-Based Tracking Control for Three-Wheeled Omnidirectional Mobile Robots

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