Robust Backstepping Tracking Control for Mobile Robots
A four-wheel mobile robot is investigated in this paper; a mathematical model of the robot is established. By using the mathematical model, backstepping method is adopted for designing a globally stable robust trajectory tracking controller, a motor model is considered to make the controller more suitable for practical requirements, and the controller is divided into three parts including a kinematic controller, a dynamic controller and a motor controller, which makes it easy to design. The Lyapunov function of the system is constructed, and it is proved that this kind of robot can globally asymptotically track a given trajectory under the proposed controller. The simulation results show that the robust trajectory tracking controller with backstepping method is valid.
robust control trajectory tracking backstepping Lyapunov function
MA Huichao LI Shurong CHENG Haiyang
College of Information and Control Engineering, China University of Petroleum (East China), Qingdao 266580, China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4842-4846
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）