Robust backstepping control of tracked mobile robot

Meng Ji; Zhenguo Sun; Junbo Wang; Qiang Chen

doi:10.1117/12.457448

18 February 2002 Robust backstepping control of tracked mobile robot

Meng Ji, Zhenguo Sun, Junbo Wang, Qiang Chen

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457448
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

This paper addresses the tracking problem of tracked mobile robot. After the kinematic model of the nonholonomic system has been discussed, a robust motion controller based on backstepping technique is proposed for the TMR. Some singular perturbations, which maybe occur in practical situations, are also taken into account in order to ensure the tracking error of the closed-loop system to converge toward zero. Simulation results are provided to validate that the proposed controller ensure the TMR asymptotically track the desire trajectory.

Citation Download Citation

Meng Ji, Zhenguo Sun, Junbo Wang, and Qiang Chen "Robust backstepping control of tracked mobile robot", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457448

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available