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Backstepping-based discontinuous adaptive control design for the stabilization of nonholonomic mobile robots with matched uncertainties

Abdelhamid Tayebi, A. Rachid

Open publisher page 8 citations

Abstract

This paper presents a backstepping procedure for the design of discontinuous, time-invariant, state feedback controllers for the stabilization of nonholonomic systems in chained form. Based on this approach, an exponentially stabilizing controller is derived for a unicycle-like mobile robot in the disturbance-free case. Furthermore, an exponentially stabilizing adaptive controller is proposed when the mobile robot is subjected to inputs disturbances.

About this research paper

What this paper is about

This paper presents a backstepping procedure for the design of discontinuous, time-invariant, state feedback controllers for the stabilization of nonholonomic systems in chained form. Based on this approach, an exponentially stabilizing controller is derived for a unicycle-like mobile robot in the disturbance-free case. Furthermore, an exponentially stabilizing adaptive controller is proposed when the mobile robot is subjected to inputs disturbances.

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OpenAlex reports 8 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

This paper presents a backstepping procedure for the design of discontinuous, time-invariant, state feedback controllers for the stabilization of nonholonomic systems in chained form. Based on this approach, an exponentially stabilizing controller is derived for a unicycle-like mobile robot in the disturbance-free case. Furthermore, an exponentially stabilizing adaptive controller is proposed when the mobile robot is subjected to inputs disturbances.

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

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Backstepping-based discontinuous adaptive control design for the stabilization of nonholonomic mobile robots with matched uncertainties — Research Paper | ScholarLens