Robust backstepping tracking control for mobile robots

A four-wheel mobile robot is investigated in this paper; a mathematical model of the robot is established. By using the mathematical model, backstepping method is adopted for designing a globally stable robust trajectory tracking controller, a motor model is considered to make the controller more suitable for practical requirements, and the controller is divided into three parts including a kinematic controller, a dynamic controller and a motor controller, which makes it easy to design. The Lyapunov function of the system is constructed, and it is proved that this kind of robot can globally asymptotically track a given trajectory under the proposed controller. The simulation results show that the robust trajectory tracking controller with backstepping method is valid.