Design and implementation of a block-backstepping based tracking control for nonholonomic wheeled mobile robot
DOI10.1002/RNC.3485zbMATH Open1346.93277OpenAlexW2259989799MaRDI QIDQ2820451FDOQ2820451
Authors: Shubhobrata Rudra, Ranjit Kumar Barai, Madhubanti Maitra 
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
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nonholonomic systemsLyapunov stability analysisintegral actiondead-reckoningblock-backstepping controlblock-strict feedback formdifferential drive mobile robot
Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)
Cites Work
- Constructive nonlinear control: a historical perspective
- Motion/force tracking control of nonholonomic mechanical systems via combining cascaded design and backstepping
- Tracking control of mobile robots: A case study in backstepping
- Finite-time tracking control of multiple nonholonomic mobile robots
- Robust stabilization of nonholonomic chained form systems with uncertainties
- Cascade design for formation control of nonholonomic systems in chained form
- Saturated stabilization and tracking of a nonholonomic mobile robot
- Adaptive stabilization for uncertain nonholonomic dynamic mobile robots based on visual servoing feedback
- Design of switching path-planning control for obstacle avoidance of mobile robot
- Adaptive control of dynamic mobile robots with nonholonomic constraints
Cited In (7)
- Robust zeroing neural network for fixed-time kinematic control of wheeled mobile robot in noise-polluted environment
- Iterative-learning-based tracking control of a two-wheeled mobile robot with model uncertainties and unknown periodic disturbances
- Periodic intermittent control for almost sure stability of stochastic strict-feedback semi-Markov jump systems
- Trajectory tracking of nonholonomic mobile robots by geometric control on special Euclidean group
- Optimal enhanced backstepping method for trajectory tracking control of the wheeled mobile robot
- A novel fixed-time zeroing neural network and its application to path tracking control of wheeled mobile robots
- Motion/force tracking control of nonholonomic mechanical systems via combining cascaded design and backstepping
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