Safety-Augmented Operation of Mobile Robots Using Variable Structure Control

The design process and complexity of existing safety controls are heavily determined by the geometrical properties environment, which affects proof convergence, scalability, performance robustness, numerical efficiency control. Hence, this brief proposes a variable structure control to isolate environment’s from structure. A super-twisting algorithm (STA) is used achieve accurate trajectory tracking robust Safety designed solely based on distance measurement. First, nominal model for obstacle avoidance derived, where realistic system constraints considered. well-suited border patrol with analytically proven stability results. uses measurement maintain safe compensating robot’s angular velocity. Also, supervisory logic constructed unify features, operational precision under parametric uncertainty. proposed modular minimal tuning parameters, reduces computational burden improves scalability. effectiveness method verified against various case studies.