Recursive backstepping stabilization of a wheeled mobile robot

F. Mnif; A. S. Yahmadi

doi:10.1243/095965105X33536

Recursive backstepping stabilization of a wheeled mobile robot

F. Mnif^*, A. S. Yahmadi

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

12 Citations (SciVal)

Abstract

This research is aimed to the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints were employed. A Backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.

Original language	English
Pages (from-to)	419-429
Number of pages	11
Journal	Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Volume	219
Issue number	6
DOIs	https://doi.org/10.1243/095965105X33536 https://doi.org/10.5772/5819
Publication status	Published - Dec 1 2004

Keywords

Backstepping approach
Chained form systems
Mobile robot
Non-holonomic systems

ASJC Scopus subject areas

Control and Systems Engineering
Mechanical Engineering

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Recursive backstepping stabilization of a wheeled mobile robot

Abstract

Keywords

ASJC Scopus subject areas

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