Discontinuous backstepping for stabilization of nonholonomic mobile robots

Herbert G. Tanner; Kostas J. Kyriakopoulos

doi:10.1109/ROBOT.2002.1014346

Discontinuous backstepping for stabilization of nonholonomic mobile robots

Herbert G. Tanner, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

The paper presents a new 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.

Original language	English (US)
Pages (from-to)	3948-3953
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
DOIs	https://doi.org/10.1109/ROBOT.2002.1014346
State	Published - 2002

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2002.1014346

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Discontinuous backstepping for stabilization of nonholonomic mobile robots

Abstract

ASJC Scopus subject areas

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