Tracking Control of Mobile Robots: A Case Study in Backstepping

Zhong Ping Jiang, Henk Nijmeijer

Research output: Contribution to journalArticle

Abstract

A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small. Then, under additional conditions on the desired velocities, we treat the global tracking problem where initial tracking errors are arbitrary. Simulation results are provided to validate and analyse our theoretical results.

Original languageEnglish (US)
Pages (from-to)1393-1399
Number of pages7
JournalAutomatica
Volume33
Issue number7
StatePublished - Jul 1 1997

Keywords

  • Backstepping
  • Mobile robots
  • Time-varying feedback
  • Tracking
  • Velocity control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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