Tracking Control of Mobile Robots: A Case Study in Backstepping

Zhong Ping Jiang; Henk Nijmeijer

doi:10.1016/s0005-1098(97)00055-1

Tracking Control of Mobile Robots: A Case Study in Backstepping

Zhong Ping Jiang, Henk Nijmeijer

Electrical and Computer Engineering

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

Abstract

A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small. Then, under additional conditions on the desired velocities, we treat the global tracking problem where initial tracking errors are arbitrary. Simulation results are provided to validate and analyse our theoretical results.

Original language	English (US)
Pages (from-to)	1393-1399
Number of pages	7
Journal	Automatica
Volume	33
Issue number	7
DOIs	https://doi.org/10.1016/s0005-1098(97)00055-1
State	Published - Jul 1997

Keywords

Backstepping
Mobile robots
Time-varying feedback
Tracking
Velocity control

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1016/s0005-1098(97)00055-1

Cite this

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title = "Tracking Control of Mobile Robots: A Case Study in Backstepping",

abstract = "A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small. Then, under additional conditions on the desired velocities, we treat the global tracking problem where initial tracking errors are arbitrary. Simulation results are provided to validate and analyse our theoretical results.",

keywords = "Backstepping, Mobile robots, Time-varying feedback, Tracking, Velocity control",

author = "Jiang, {Zhong Ping} and Henk Nijmeijer",

note = "Funding Information: Most of this work was done when the first author was with the Department of Systems Engineering, Australian National University, and the second author was visiting the Faculty of Engineering and Information Technology, Australian National University under a research fellowship. The authors acknowledge funding support from the Centre for Robust and Adaptive Systems established under the Cooperative Research Centre Program of the Commonwealth of Australia. ",

year = "1997",

month = jul,

doi = "10.1016/s0005-1098(97)00055-1",

language = "English (US)",

volume = "33",

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journal = "Automatica",

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TY - JOUR

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T2 - A Case Study in Backstepping

AU - Jiang, Zhong Ping

AU - Nijmeijer, Henk

N1 - Funding Information: Most of this work was done when the first author was with the Department of Systems Engineering, Australian National University, and the second author was visiting the Faculty of Engineering and Information Technology, Australian National University under a research fellowship. The authors acknowledge funding support from the Centre for Robust and Adaptive Systems established under the Cooperative Research Centre Program of the Commonwealth of Australia.

PY - 1997/7

Y1 - 1997/7

N2 - A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small. Then, under additional conditions on the desired velocities, we treat the global tracking problem where initial tracking errors are arbitrary. Simulation results are provided to validate and analyse our theoretical results.

AB - A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small. Then, under additional conditions on the desired velocities, we treat the global tracking problem where initial tracking errors are arbitrary. Simulation results are provided to validate and analyse our theoretical results.

KW - Backstepping

KW - Mobile robots

KW - Time-varying feedback

KW - Tracking

KW - Velocity control

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JO - Automatica

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ER -

Tracking Control of Mobile Robots: A Case Study in Backstepping

Abstract

Keywords

ASJC Scopus subject areas

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