Tracking control of mobile robots: a case study in backstepping

Zhong-Ping Jiang, Henk Nijmeijer

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    837 Citations (Scopus)
    515 Downloads (Pure)

    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
    Pages (from-to)1393-1399
    Number of pages7
    JournalAutomatica
    Volume33
    Issue number7
    DOIs
    Publication statusPublished - 1997

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