A Backstepping Approach to Control a Nonholonomic Mobile Robot
نویسندگان
چکیده
In this paper a trajectory tracking control problem for a nonholonomic mobile robot by making use of a kinematic oscillator has been solved. Firstly time varying oscillator is examined to control nonholonomic mobile robot based only its kinematics. Secondly backstepping procedure is proposed to include robot dynamics and 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 behaviour of the controller with respect to tuning its parameters. Some preliminary experiments are reported too. Keywords—mobile robot, time varying controller, Lyapunov function.
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