Title :
Backstepping controller for a wheeled mobile robot
Author :
Zidani, Gh ; Drid, S. ; Chrifi-alaoui, L. ; Benmakhlouf, A. ; Chaouch, S.
Author_Institution :
Electr. Eng. Dept., Univ. of Kasdi Merbah Ouargla, Ouargla, Algeria
Abstract :
In this paper, a control algorithm based on Backstepping technique for differential drive mobile robot path tracking is developed. The use of backstepping theory to solve the problem of path tracking is relatively new in the field of mobile robots control. Numerical simulations were conducted to show the effectiveness of the proposed algorithms to solve the nonholonomic constraints of the mobile robot, and its ability to achieve satisfactory performance. The stability of the system is proven via Lyapunov theory.
Keywords :
Lyapunov methods; control nonlinearities; mobile robots; robot dynamics; robot kinematics; stability; Lyapunov theory; backstepping controller; differential drive mobile robot path tracking; mobile robot nonholonomic constraints; stability; wheeled mobile robot; Kinematics; Lyapunov methods; Mathematical model; Mobile robots; Robot kinematics; Trajectory; Backstepping control; Lyapunov methods; Wheeled Mobile Robot (WMR); kinematic and dynamic controllers;
Conference_Titel :
Systems and Control (ICSC), 2015 4th International Conference on
Conference_Location :
Sousse
Print_ISBN :
978-1-4673-7108-7
DOI :
10.1109/ICoSC.2015.7153286
