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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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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Abstract 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.
AbstractList 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.
Author Hwang, Eun-Ju
Park, Mignon
Hyun, Chang-Ho
Kang, Hyo-Seok
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  givenname: Chang-Ho
  surname: Hyun
  fullname: Hyun, Chang-Ho
  email: hyunch@kongju.ac.kr
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  givenname: Mignon
  surname: Park
  fullname: Park, Mignon
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Issue 1
Keywords Skid-Steered Wheeled Mobile Robots
Backstepping
Lyapunov Redesign
Robust Tracking Control
Language English
License This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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Snippet This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid-Steered Wheeled Mobile Robots (WMRs). We present kinematic...
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SubjectTerms 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
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Title Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots
URI https://journals.sagepub.com/doi/full/10.5772/55059
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