Recursive backstepping stabilization of a wheeled mobile robot

F. Mnif*, A. S. Yahmadi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Citations (SciVal)


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 languageEnglish
Pages (from-to)419-429
Number of pages11
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number6
Publication statusPublished - Oct 2005


  • Backstepping approach
  • Chained form systems
  • Mobile robot
  • Non-holonomic systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering


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