Backstepping controller with force estimator applied for mobile robot

Abstract : In this paper, we present the concept of nonlinear control technique for trajectory tracking problem of mobile robot type unicycle. the designof the proposed controller is combines a backstepping controller and the force estimator method. The main aim of this study is to design a robustcontrol law in the presence of disturbances using the backstepping with estimation of the forces. The approach consists to estimate the perturbationusing an adaptive controller, the effectiveness of the proposed approach is demonstrated through simulation and experimental results.