Homogeneity-Based Control Strategy for Trajectory Tracking in Perturbed Unicycle Mobile Robots

This brief deals with the tracking problem for the unicycle mobile robot (UMR) with slippage effects. A homogeneous controller (HC) is developed based on a particular cascade control strategy. The robustness of the closed-loop system is studied. The design is essentially based on the canonical homogeneous norm being a Lyapunov function of the system. The (finite-time or exponential) convergence rate of the HC can be tuned by a proper selection of the so-called homogeneity degree. Some experimental results illustrate the performance of the proposed homogeneous control in the UMR QBot2 by Quanser.