Optimal trajectory tracking control for a wheeled mobile robot using backstepping technique

<span lang="EN-US">This work studies an optimal trajectory tracking of a wheeled mobile robot with the objective minimizing energy consumption. First, mathematical model, which takes into account kinematic model and dynamic actuators is presented. Then, backstepping controller designed its parameters are tuned to satisfy several strict criteria such as rapid convergence, matching desired trajectory, energy. For that, two cost functions were investigated best one has been selected. The significant reduction in losses achieved for all proposed motion scenarios proves effectiveness our approach.</span>