Discrete Tracking Control of Nonholonomic Mobile Robots: Backstepping Design Approach

Authors: Alexander S. Andreev, Olga A. Peregudova

Abstract:

In this paper we propose a discrete tracking control of nonholonomic mobile robots with two degrees of freedom. The electromechanical model of a mobile robot moving on a horizontal surface without slipping, with two rear wheels controlled by two independent DC electric, and one front roal wheel is considered. We present backstepping design based on the Euler approximate discretetime model of a continuous-time plant. Theoretical considerations are verified by numerical simulation.

Keywords: Actuator Dynamics, Backstepping, Discrete-Time Controller, Lyapunov Function, Wheeled Mobile Robot.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1100448

References:

[1] Yu. G. Martynenko, “Motion control of mobile wheeled robots,” Journal of Mathematical Sciences, vol. 147, No.2, 2007, pp. 6569–6606.
[2] P.V. Kokotovic, “The joy of feedback: Nonlinear and adaptive,” IEEE Control Systems Magazine, vol.12, 1992, pp.7–17.
[3] P.V. Kokotovic, M. Arcak, “Constructive nonlinear control: a historical perspective,” Automatica, vol.37, 2001, pp.637–662.
[4] H.K. Khalil, Nonlinear Systems, 3rd ed. Upper Saddle River, N.J.: Prentice Hall, 2002.
[5] D. Nesic, A. R. Teel, “Stabilization of sampled-data nonlinear systems via backstepping on their Euler approximate model,” Automatica, 42, 2006, pp.1801–1808.