Tracking control of mobile robots: a case study in backstepping

Zhong-Ping Jiang; Henk Nijmeijer

doi:10.1016/S0005-1098(97)00055-1

Tracking control of mobile robots: a case study in backstepping

Zhong-Ping Jiang, Henk Nijmeijer

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882 Citations (Scopus)

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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 language	English
Pages (from-to)	1393-1399
Number of pages	7
Journal	Automatica
Volume	33
Issue number	7
DOIs	https://doi.org/10.1016/S0005-1098(97)00055-1
Publication status	Published - 1997

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10.1016/S0005-1098(97)00055-1

882 Citations
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Tracking control of mobile robots: A case study in backstepping
Jiang, Z.-P. & Nijmeijer, H., 1996, Enschede: University of Twente. 28 p. (Memorandum; no. 1321)
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title = "Tracking control of mobile robots: a case study in backstepping",

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.",

author = "Zhong-Ping Jiang and Henk Nijmeijer",

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AU - Nijmeijer, Henk

PY - 1997

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AB - 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.

U2 - 10.1016/S0005-1098(97)00055-1

DO - 10.1016/S0005-1098(97)00055-1

M3 - Article

SN - 0005-1098

VL - 33

SP - 1393

EP - 1399

JO - Automatica

JF - Automatica

IS - 7

ER -

Tracking control of mobile robots: a case study in backstepping

Abstract

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Tracking control of mobile robots: A case study in backstepping

Cite this