Recursive backstepping stabilization of a wheeled mobile robot

F. Mnif*, A. S. Yahmadi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

12 Citations (SciVal)


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 languageEnglish
Pages (from-to)419-429
Number of pages11
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number6
Publication statusPublished - Dec 1 2004


  • Backstepping approach
  • Chained form systems
  • Mobile robot
  • Non-holonomic systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering


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