Discontinuous backstepping for stabilization of nonholonomic mobile robots

Presents a method of performing integrator backstepping in systems that are discontinuous, either due to their inherent structure or because of the applied control input. The proposed technique is applied to the stabilization problem of the dynamic system of a nonholonomic mobile robot. Simulation studies indicate that the methodology can also help alleviate the problem of chattering that is commonly associated with discontinuous nonholonomic controllers.