Backstepping controller with force estimator applied for mobile robot

Benaoumeur Ibari 1 Laredj Benchikh 2 Kamel Bouzgou 3, 2 Reda Elhachemi 3 Zoubir Ahmed-Foitih 3
1 Université Mustapha Stambouli of Mascara
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
3 Laboratory of Power Systems, Solar Energy and Automation L.E.P.E.S.A
Abstract : In this paper, we present the concept of nonlinear control technique for trajectory tracking problem of mobile robot type unicycle. the design of the proposed controller is combines a backstepping controller and the force estimator method. The main aim of this study is to design a robust control law in the presence of disturbances using the backstepping with estimation of the forces. The approach consists to estimate the perturbation using an adaptive controller, the effectiveness of the proposed approach is demonstrated through simulation and experimental results.
Keywords : Backstepping control Mobile robot Estimator force
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Benaoumeur Ibari, Laredj Benchikh, Kamel Bouzgou, Reda Elhachemi, Zoubir Ahmed-Foitih. Backstepping controller with force estimator applied for mobile robot. Przeglad Elektrotechniczny , Wydawnictwo Czasopism i Ksia̜żek Technicznych Sigma, 2019, 2019 (10), pp.18--21. ⟨10.15199/48.2019.10.03⟩. ⟨hal-02384553⟩

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