A backstepping approach to control a nonholonomic mobile robot
[ 1 ] Katedra Sterowania i Inżynierii Systemów (KI), Wydział Informatyki i Zarządzania, Politechnika Poznańska | [ P ] employee
2002
paper
english
- mobile robot
- time varying controller
- Lyapunov function
EN A trajectory tracking control problem for a nonholonomic mobile robot by making use of a kinematic oscillator has been solved. Firstly, a time varying oscillator is examined to control the nonholonomic mobile robot based only its kinematics. Secondly, a backstepping procedure is proposed to include robot dynamics and the servo loop. It is shown that overall multilevel controller is asymptotically globally stable to a small error different from zero. A wide range of simulation results are presented which illustrate the behaviour of the controller with respect to tuning its parameters. Some preliminary experiments are reported too.
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