Back stepping tracking controller for wheeled mobile robot

2017 International Conference on Communication, Control, Computing and Electronics Engineering (ICCCCEE) Pub Date : 1900-01-01 DOI:10.1109/ICCCCEE.2017.7867663

Walied M. E. Mahgoub, I. Sanhoury

引用次数: 13

Abstract

A new tracking controller for a wheeled mobile robot based on backstepping approach is presented. The proposed controller was developed based on the kinematic model of the nonholonomic wheeled mobile robot. The controller is verified through a well-established method Lyapunov function.

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轮式移动机器人的反步跟踪控制器

提出了一种基于反步法的轮式移动机器人跟踪控制器。基于非完整轮式移动机器人的运动学模型，开发了该控制器。通过完善的李雅普诺夫函数方法对控制器进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2017 International Conference on Communication, Control, Computing and Electronics Engineering (ICCCCEE)

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