Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking

Benaoumeur Ibari (1) , Laredj Benchikh (2) , Amar Reda Hanifi Elhachimi (1) , Zoubir Ahmed-Foitih (1)

1 Laboratory of Power Systems, Solar Energy and Automation L.E.P.E.S.A
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

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.

Mots clés: Non-linear systems; Trajectory tracking; Dynamic model; backstepping

Domaines: Automatique / Robotique

Benaoumeur Ibari, Laredj Benchikh, Amar Reda Hanifi Elhachimi, Zoubir Ahmed-Foitih. Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking. Indonesian Journal of Electrical Engineering and Computer Science, 2016, 2 (3), pp.478--485. ⟨10.11591/ijeecs.v2.i3.pp478-485⟩. ⟨hal-01328410⟩