학술논문
A backstepping approach to control a nonholonomic mobile robot
Document Type
Conference
Author
Source
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) Robotics and automation Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on. 4:3972-3977 vol.4 2002
Subject
Language
Abstract
A trajectory tracking control problem for a nonholonomic mobile robot by making use of a kinematic oscillator has been solved. Firstly, a time varying oscillator is examined to control the nonholonomic mobile robot based only its kinematics. Secondly, a backstepping procedure is proposed to include robot dynamics and the servo loop. It is shown that overall multilevel controller is asymptotically globally stable to a small error different from zero. A wide range of simulation results are presented which illustrate the behaviour of the controller with respect to tuning its parameters. Some preliminary experiments are reported too.