Recursive Backstepping Stabilization of a Wheeled Mobile Robot | Zendy

F. Mnif | Zendy

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Recursive Backstepping Stabilization of a Wheeled Mobile Robot

Author(s) -

F. Mnif

Publication year - 2004

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5819

Subject(s) - backstepping , computer science , mobile robot , control theory (sociology) , lyapunov function , controller (irrigation) , nonholonomic system , control engineering , robot , control (management) , adaptive control , artificial intelligence , nonlinear system , engineering , quantum mechanics , agronomy , biology , physics

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

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