Tracking Control of Unicycle-type Wheeled Mobile Robot Utlizing Backstepping Approach

Abstract

A time-varying feedback tracking control is proposed to stabilize the trajectory of wheeled mobile robot (WMR) relied on backstepping approach. The tracking controller is based on unicycle-type kinematic model of WMR. Asymptotical stability is realized and verified via a well established Lyapunov Function. The simulation results show the effectiveness of the proposed controller. The circular trajectory is generated as a desired path for the WMR. It’s found that, the performance of the posture errors and velocities for the proposed backstepping tracking controller is superior to the benchmarked controller.