Discontinuous backstepping for stabilization of nonholonomic mobile robots

Herbert G. Tanner, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Pages (from-to)3948-3953
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2002

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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