Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots

This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid-Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running....

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 10; no. 1
Main Authors Hwang, Eun-Ju, Kang, Hyo-Seok, Hyun, Chang-Ho, Park, Mignon
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 10.01.2013
Sage Publications Ltd
SAGE Publishing
Subjects
Computer simulation
Control stability
Controllers
Design
Dynamic models
Feedback control
Kinematics
Liapunov functions
Perturbation
R&D
Redesign
Research & development
Robots
Robust control
Skidding
Stability analysis
Tracking control
Skid-Steered Wheeled Mobile Robots
Backstepping
Lyapunov Redesign
Robust Tracking Control
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Summary:This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid-Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running. A robust controller is synthesized in the backstepping approach and the Lyapunov redesign technique, which forces the error dynamics to stabilize to the reference trajectories. We design an additional feedback control - a Lyapunov redesign - such that the overall control stabilizes the actual system in the presence of uncertainty and perturbation with the knowledge of the Lyapunov function. Simulation results are provided to validate and analyse the performance and stability of the proposed controller.
ISSN:1729-8806
1729-8814
DOI:10.5772/55059