Backstepping Controller for a Wheeled Mobile Robot

被引：0
|
作者：
Zidani, Gh. [1 ]
Drid, S. [2 ]
Chrifi-Alaoui, L. [3 ]
Benmakhlouf, A. [1 ]
Chaouch, S. [2 ]
机构：
[1] Univ Kasdi Merbah Ouargla, Dept Elect Engn, Ouargla 30000, Algeria
[2] Univ Batna, LSP IE, Batna 05000, Algeria
[3] Univ Picardie Jules Verne, Dept Genie Elect & Informat Ind, LTI, Cuffies, Soissons, France
来源：
2015 4TH INTERNATIONAL CONFERENCE ON SYSTEMS AND CONTROL (ICSC) | 2015年
关键词：
Backstepping control; kinematic and dynamic controllers; Lyapunov methods; Wheeled Mobile Robot (WMR); TRACKING CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a control algorithm based on Backstepping technique for differential drive mobile robot path tracking is developed. The use of backstepping theory to solve the problem of path tracking is relatively new in the field of mobile robots control. Numerical simulations were conducted to show the effectiveness of the proposed algorithms to solve the nonholonomic constraints of the mobile robot, and its ability to achieve satisfactory performance. The stability of the system is proven via Lyapunov theory.
引用
收藏
页码：443 / 448
页数：6
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