Hybrid GA and Backstepping based Tracking Control of a Mobile Robot

In this paper, a hybrid genetic algorithm (GA) and backstepping based tracking controller is proposed for a nonholonomic mobile robot. Backstepping is a commonly used technique for nonlinear control systems. By using a backstepping motion controller alone, there exist oscillations at the initial phase in both linear velocity and angular velocity, as well as a big initial linear velocity jump. A genetic algorithm is used to optimize the parameters of the backstepping controller. The hybrid controller is capable of removing the velocity oscillations and speed jump. In addition, it can guarantee the system stability and convergence of tracking error. The effectiveness of the proposed hybrid control is demonstrated by simulation studies