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Journal articles
Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking
Abstract : This paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobile
robots. The main object of the control algorithms developed is to design a robust output tracking controller.
The design of the controller is based on the lyapunov theorem, kinematic tracking controller of an unicyclelike
mobile robot is used to provides the desired values of the linear and angular velocities for the given
trajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the tracking
errors. Simulation and experimental results show the effectiveness of the proposed robust controller in term
of accuracy and stability under different load conditions.
Cited literature [26 references]
https://hal.archives-ouvertes.fr/hal-01328410
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, June 7, 2016 - 11:53:50 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:09 AM
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, June 7, 2016 - 11:53:50 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:09 AM
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