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Mathematical Problems in Engineering
Volume 2015, Article ID 728412, 10 pages
Research Article

Robust Tracking and Cruise Control of a Class of Robotic Systems

1Departamento de Electrónica y Telecomunicaciones, CICESE, 22860 Ensenada, BCN, Mexico
2Facultad de Ingeniería, Arquitectura y Diseño, UABC, 22860 Ensenada, BCN, Mexico

Received 31 October 2014; Revised 20 January 2015; Accepted 21 January 2015

Academic Editor: Luis Rodolfo Garcia Carrillo

Copyright © 2015 Ricardo Cuesta et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a controller for a class of robotic systems, based on a first-order sliding mode with a particular noninvariant, nonconnected surface. With this control it is possible to regulate the position such that the velocity remains, as long as possible, at a specified value until the system is close to the desired position. The properties inherited from the sliding modes make the control exhibit a high robustness to external perturbations and low sensitivity to system parameter variations. It is shown that the desired speed is reached in a finite time and the system converges exponentially to the desired position. This controller can be applied to systems described by a classical model of a fully actuated, n-DOF mechanical system, which could be decoupled via a preliminary decoupling control. To illustrate the theoretical results, the proposed control technique is applied to a Cartesian robot, simulated numerically. Moreover, to show the effectiveness of this strategy, some physical experiments on a rotational (mechanical) device were performed.