Recursive backstepping stabilization of a wheeled mobile robot

F. Mnif; A. S. Yahmadi

doi:10.1243/095965105X33536

Recursive backstepping stabilization of a wheeled mobile robot

F. Mnif^*, A. S. Yahmadi

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

4 Citations (SciVal)

Abstract

This research is aimed at 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 non-holonomic constraints were employed. A backstepping approach for the design of a 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.

Original language	English
Pages (from-to)	419-429
Number of pages	11
Journal	Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Volume	219
Issue number	6
DOIs	https://doi.org/10.1243/095965105X33536
Publication status	Published - Oct 2005

Keywords

Backstepping approach
Chained form systems
Mobile robot
Non-holonomic systems

ASJC Scopus subject areas

Control and Systems Engineering
Mechanical Engineering

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10.1243/095965105X33536

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Recursive backstepping stabilization of a wheeled mobile robot

Abstract

Keywords

ASJC Scopus subject areas

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