Design and implementation of a block-backstepping based tracking control for nonholonomic wheeled mobile robot

DOI10.1002/rnc.3485zbMath1346.93277OpenAlexW2259989799MaRDI QIDQ2820451

Ranjit Kumar Barai, Madhubanti Maitra, Shubhobrata Rudra

Publication date: 16 September 2016

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rnc.3485

zbMATH Keywords

nonholonomic systemsintegral actionLyapunov stability analysisdead-reckoningblock-backstepping controlblock-strict feedback formdifferential drive mobile robot

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control/observation systems governed by ordinary differential equations (93C15)

Related Items

Robust zeroing neural network for fixed-time kinematic control of wheeled mobile robot in noise-polluted environment, Trajectory tracking of nonholonomic mobile robots by geometric control on special Euclidean group

Cites Work

• Unnamed Item
• Unnamed Item
• Design of switching path-planning control for obstacle avoidance of mobile robot
• Cascade design for formation control of nonholonomic systems in chained form
• Adaptive control of dynamic mobile robots with nonholonomic constraints
• Tracking control of mobile robots: A case study in backstepping
• Motion/force tracking control of nonholonomic mechanical systems via combining cascaded design and backstepping
• Finite-time tracking control of multiple nonholonomic mobile robots
• Constructive nonlinear control: a historical perspective
• Saturated stabilization and tracking of a nonholonomic mobile robot