TY - JOUR
T1 - Recursive backstepping stabilization of a wheeled mobile robot
AU - Mnif, F.
AU - Yahmadi, A. S.
PY - 2004/12/1
Y1 - 2004/12/1
N2 - 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.
AB - 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.
KW - Backstepping approach
KW - Chained form systems
KW - Mobile robot
KW - Non-holonomic systems
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U2 - 10.1243/095965105X33536
DO - 10.1243/095965105X33536
M3 - Article
AN - SCOPUS:77950811036
SN - 0959-6518
VL - 219
SP - 419
EP - 429
JO - Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
JF - Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
IS - 6
ER -