A backstepping approach to control a nonholonomic mobile robot

In this paper a trajectory tracking control problem for a nonholonomic mobile robot by making use of a kinematic oscillator has been solved. Firstly - time varying oscillator is examined to control nonholonomic mobile robot based only its kinematics. Secondly - backstepping procedure is proposed to include robot dynamics and servo loop. It is shown that overall multilevel controller is asymptotically globally stable to a small error different from zero. A wide range of simulation results are presented which illustrate behaviour of the controller with respect to tuning its parameters. Some preliminary experiments are reported too.