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 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) | 287-294 |
| Number of pages | 8 |
| Journal | International Journal of Advanced Robotic Systems |
| Volume | 1 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - Dec 1 2004 |
Keywords
- Backstepping approach
- Chained form systems
- Mobile robot
- Nonholonomic systems
ASJC Scopus subject areas
- Software
- Computer Science Applications
- Artificial Intelligence