Control of a nonholonomic mobile robot: backstepping kinematics into dynamics

• Published in: Proceedings of 1995 34th IEEE Conference on Decision and Control Vol. 4; pp. 3805 - 3810 vol.4
• Main Authors: Fierro, R., Lewis, F.L.
• Format: Conference Proceeding
• Language: English
• Published: IEEE Control Systems Society 1995
• Subjects: Adaptive control; Asymptotic stability; Backstepping; Kinematics; Mobile robots; Motion planning; Programmable control; Robot control; Torque control; Trajectory

A dynamical extension that makes possible the integration of a kinematic controller and a torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory. Moreover, this c...