Title :
Trajectory tracking control of nonholonomic mobile robots by Backstepping
Author :
Cheng, Lei ; Cao, Lei ; Wu, Huai-yu ; Zhu, Quan-min ; Xu, Wen-xia ; Liu, Ling
Author_Institution :
Eng. Res. Center of Metall. Autom. & Meas. Technol., Wuhan Univ. of Sci. & Technol., Wuhan, China
Abstract :
This paper mainly research about the trajectory tracking control of nonholonomic mobile robots. Using the idea of Backstepping, a simple virtual variable is proposed and the corresponding feedback control law of nonholonomic mobile robot is designed via Lyapunov direct method, at the same time it can be proved that the control effect can achieve global asymptotic stability. The proposing of a simple virtual variable makes the control law designing more easy. A simulation proves the system´s global asymptotic stability, meanwhile, verifies the correctness and effectiveness of the control law.
Keywords :
Lyapunov methods; asymptotic stability; feedback; mobile robots; position control; Lyapunov direct method; asymptotic stability; backstepping; feedback control law; nonholonomic mobile robots; trajectory tracking control; Backstepping; Mobile robots; Robot kinematics; Tracking; Trajectory;
Conference_Titel :
Modelling, Identification and Control (ICMIC), Proceedings of 2011 International Conference on
Conference_Location :
Shanghai
DOI :
10.1109/ICMIC.2011.5973689