Backstepping control of wheeled mobile robots

A trajectory tracking controller based on the backstepping technique for the PowerBot wheeled mobile robot using the kinematic model is proposed in this paper. The PowerBot is an automated differential drive guided vehicle specially designed and equipped for autonomous, intelligent delivery and hand...

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Bibliographic Details
Published in2011 15th International Conference on System Theory, Control, and Computing pp. 1 - 6
Main Authors Dumitrascu, B., Filipescu, A., Minzu, V.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2011
Subjects
Angular velocity
Backstepping
Kinematics
Mobile robots
Software
Trajectory
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ISBN9781457711732
1457711737

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Summary:A trajectory tracking controller based on the backstepping technique for the PowerBot wheeled mobile robot using the kinematic model is proposed in this paper. The PowerBot is an automated differential drive guided vehicle specially designed and equipped for autonomous, intelligent delivery and handling of large payloads. The PowerBot is an ideal platform for laboratory and research tasks involving delivery, navigation and manipulation thanks to its top speed of 1.6 m/s and payload capacity of up to 100 kg. Simulations and real-time are used to validate the proposed controller and the results prove the effectiveness of the controller.
ISBN:9781457711732
1457711737