Recursive backstepping stabilization of a wheeled mobile robot

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004
Pages135-139
Number of pages5
Publication statusPublished - 2004
Event2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004 - Hammamet, Tunisia
Duration: Mar 21 2004Mar 24 2004

Other

Other2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004
CountryTunisia
CityHammamet
Period3/21/043/24/04

Fingerprint

Backstepping
Mobile robots
Stabilization
Controllers
Railroad cars
Lyapunov functions
State feedback
Closed loop systems
Dynamical systems
Robots

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Mnif, F. (2004). Recursive backstepping stabilization of a wheeled mobile robot. In 2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004 (pp. 135-139)

Recursive backstepping stabilization of a wheeled mobile robot. / Mnif, Faïçal.

2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004. 2004. p. 135-139.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mnif, F 2004, Recursive backstepping stabilization of a wheeled mobile robot. in 2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004. pp. 135-139, 2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004, Hammamet, Tunisia, 3/21/04.
Mnif F. Recursive backstepping stabilization of a wheeled mobile robot. In 2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004. 2004. p. 135-139
Mnif, Faïçal. / Recursive backstepping stabilization of a wheeled mobile robot. 2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004. 2004. pp. 135-139
@inproceedings{fa7dc41762af4aa491288fbaffa3152f,
title = "Recursive backstepping stabilization of a wheeled mobile robot",
abstract = "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.",
author = "Fa{\"i}{\cc}al Mnif",
year = "2004",
language = "English",
isbn = "0780383796",
pages = "135--139",
booktitle = "2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004",

}

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.

UR - http://www.scopus.com/inward/record.url?scp=3042515076&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=3042515076&partnerID=8YFLogxK

M3 - Conference contribution

SN - 0780383796

SP - 135

EP - 139

BT - 2004 First International Symposium on Control, Communications and Signal Processing, ISCCSP 2004

ER -