A Backstepping Control Method for Mobile Robot Path Tracking

DOI

10.2991/mme-16.2017.94How to use a DOI?

Keywords

Backstepping control, Wheeled mobile robot, Trajectory tracking, Lyapunov function, Critical errors, Global stability.

Abstract

In this paper, the kinematic model of the mobile robot is built. Based on Backstepping time-varying state feedback method and Lyapunov theory, the time-varying feedback control law were designed and the global asymptotic stability is proved. Numerical simulations were conducted to show the effectiveness of the proposed algorithms. Critical errors about the mobile robot tracks different trajectories which makes the control algorithm does not converge were got.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Chang Ren
AU  - Jun-Hong Ji
AU  - Hao-Yue Yan
AU  - Hui Zhang
AU  - Jin-Zhong Yue
PY  - 2016/12
DA  - 2016/12
TI  - A Backstepping Control Method for Mobile Robot Path Tracking
BT  - Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)
PB  - Atlantis Press
SP  - 680
EP  - 687
SN  - 2352-5401
UR  - https://doi.org/10.2991/mme-16.2017.94
DO  - 10.2991/mme-16.2017.94
ID  - Ren2016/12
ER  -