Recursive backstepping stabilization of a wheeled mobile robot

• Autorzy: Mnif F. , Al-Yahmadi A. S.
• Języki publikacji: EN

Abstrakty

EN

This research is aimed at the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with nonholonomic constraints is employed. A backstepping approach for the design of discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot.

Słowa kluczowe

EN

backstepping approach; mobile robot; chained form systems; nonholonomic systems

PL

mechanika; robot mobilny; sterowanie dynamiczne

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2004
• Tom: Vol. 9, no 4
• Strony: 725--738
• Opis fizyczny: Bibliogr. 13 poz., wykr.

Twórcy

autor

Mnif F.

• Department of Electrical and Computer Engineering, Sultan Qaboos University P.O. Box 33, Muscat 123, OMAN
• Intelligent Control, Design and Optimization of Complex Systems Research Unit, TUNISIA

autor

Al-Yahmadi A. S.

• Department of Mechanical and Industrial Engineering, Sultan Qaboos University P.O. Box 33, Muscat 123, OMAN

Bibliografia

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