A Backstepping Control Method for Mobile Robot Path Tracking

被引：0

作者：

Ren, Chang ^{[1
]}

Ji, Jun-Hong ^{[1
]}

Yan, Hao-Yue ^{[1
]}

Zhang, Hui ^{[1
]}

Yue, Jin-Zhong ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Heilongjiang, Peoples R China

来源：

PROCEEDINGS OF THE 3RD ANNUAL INTERNATIONAL CONFERENCE ON MECHANICS AND MECHANICAL ENGINEERING (MME 2016) | 2017年 / 105卷

关键词：

Backstepping control; Wheeled mobile robot; Trajectory tracking; Lyapunov function; Critical errors; Global stability; NETWORKS; SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the kinematic model of the mobile robot is built. Based on Backstepping time-varying state feedback method and Lyapunov theory, the time-varying feedback control law were designed and the global asymptotic stability is proved. Numerical simulations were conducted to show the effectiveness of the proposed algorithms. Critical errors about the mobile robot tracks different trajectories which makes the control algorithm does not converge were got.

引用

页码：680 / 687

页数：8

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