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Solving Tracking Problem of a Nonholonomic Wheel Mobile Robot Using Backstepping Technique

Noor Ayikin Sulaiman, and Azdiana Md.Yusop, and Sharatul Izah Samsudin, (2010) Solving Tracking Problem of a Nonholonomic Wheel Mobile Robot Using Backstepping Technique. Journal of Mechanical Engineering and Technology, 2 (1). pp. 87-94. ISSN 2180-1053

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Official URL: http://www.utem.edu.my

Affiliations

Universiti Teknikal Malaysia Melaka. Faculty of Electronic and Computer Engineering
Universiti Teknikal Malaysia Melaka. Faculty of Electronic and Computer Engineering
Universiti Teknikal Malaysia Melaka. Faculty of Electronic and Computer Engineering

Abstract

Nonholonomic system is a mechanical system that is subject to nonholonomic constraints. They are the constraints on the velocity of the system which can not be integrated into position constraints that can be used to reduce the number of generalized coordinates. Mobile robots constitute a typical example of non-holonomic systems. This project attempts to control a nonholonomic mobile robot to track the desired trajectories. In this project, the combination of kinematics and dynamics of the mobile robot are used to control the robot using backstepping technique. Two types of input are presented in this paperwork. From the simulation results, the controller is able to control a non-holonomic mobile robot to track the desired rajectories. All simulations are performed using SIMULINK/MATLAB

Item Type:Journal
Keywords:Backstepping technique, non-holonomic system, mobile robot
Subjects:T Technology, Engineering
ID Code:10889

Didik Setyo Purnomo and Musa Mailah. (2003). Trajectory Tracking Control of a Nonholonomic Mobile Robot Using Adaptive Active Force Control With FuzzyLogic. Advanced Technology Congress.

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P. V. Kokotovic. (1992). The joy of feedback: nonlinear and adaptive. Control System Magazine. IEEE. pp. 7-17

R. Fierro and F. L. Lewis. (1995). Control of A Non-Holonomic Mobile Robot: Backstepping Kinematics Into Dynamics. Proceeding of the 34th Conference on Decision & Control. pp. 3805-3810.

Shen Lin and A. Goldenberg. (2000). Robust Damping Control of Wheeled Mobile Robots. Proceeding of the 2000 IEEE International Conference on Robotics & Automation. pp. 2919-2924.

T. C. Lee, K. T. Song, C. H. Lee and C. C. Teng. (2001). Tracking Control of Unicycle-Modeled Mobile Robots Using a Saturation Feedback Controller. IEEE Transactions on Control Systems Technology. Volume 9. pp. 305 – 318

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