2015•Unpublished venueRequires access

Backstepping controller for a wheeled mobile robot

Gh. Zidani, Saïd Drid, Larbi Chrifi‐Alaoui, Abdeslam Benmakhlouf, Saâd Chaouch

Abstract

In this paper, a control algorithm based on Backstepping technique for differential drive mobile robot path tracking is developed. The use of backstepping theory to solve the problem of path tracking is relatively new in the field of mobile robots control. Numerical simulations were conducted to show the effectiveness of the proposed algorithms to solve the nonholonomic constraints of the mobile robot, and its ability to achieve satisfactory performance. The stability of the system is proven via Lyapunov theory.

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OpenAlex reports 24 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

Key concepts: Backstepping, Mobile robot, Nonholonomic system, Control theory (sociology), Lyapunov stability, Computer science, Control engineering, Controller (irrigation)