Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots
نویسندگان
چکیده
منابع مشابه
Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots
This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid‐Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running. A robust controller is synthesized in the backstepping approach ...
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Abstract—This paper presents a tracking control strategy based on Lyapunov approach for nonholonomic wheeled mobile robot. This control strategy consists of two levels. First, a kinematic controller is developed to adjust the right and left wheel velocities. Using this velocity control law, the stability of the tracking error is guaranteed using Lyapunov approach. This kinematic controller cann...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2013
ISSN: 1729-8814,1729-8814
DOI: 10.5772/55059