TY - GEN
T1 - Recursive backstepping stabilization of a wheeled mobile robot
AU - Mnif, Faïçal
PY - 2004
Y1 - 2004
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 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.
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 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.
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M3 - Conference contribution
AN - SCOPUS:3042515076
SN - 0780383796
T3 - International Symposium on Control, Communications and Signal Processing, ISCCSP
SP - 135
EP - 139
BT - 2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004
T2 - 2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004
Y2 - 21 March 2004 through 24 March 2004
ER -