Recursive backstepping stabilization of a wheeled mobile robot

Faïçal Mnif*

*المؤلف المقابل لهذا العمل

نتاج البحث

9 اقتباسات (Scopus)

ملخص

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 exponentially stable. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested trough simulation on a car-like vehicle mobile robot.

اللغة الأصليةEnglish
عنوان منشور المضيف2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004
الصفحات135-139
عدد الصفحات5
حالة النشرPublished - 2004
الحدث2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004 - Hammamet
المدة: مارس ٢١ ٢٠٠٤مارس ٢٤ ٢٠٠٤

سلسلة المنشورات

الاسمInternational Symposium on Control, Communications and Signal Processing, ISCCSP

Other

Other2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004
الدولة/الإقليمTunisia
المدينةHammamet
المدة٣/٢١/٠٤٣/٢٤/٠٤

ASJC Scopus subject areas

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