Backstepping based Trajectory Tracking Control of a Four Wheeled Mobile Robot

• Main Authors: Nagarajan Sukavanam, Umesh Kumar
• Format: Article
• Language: English
• Published: SAGE Publishing 2008-11-01
• Series: International Journal of Advanced Robotic Systems
• Subjects: wheeled mobile robot; chained form systems; nonholonomic systems; trajectory tracking.
• Online Access: http://www.intechopen.com/articles/show/title/backstepping_based_trajectory_tracking_control_of_a_four_wheeled_mobile_robot

For a four wheeled mobile robot a trajectory tracking concept is developed based on its kinematics. A trajectory is a time?indexed path in the plane consisting of position and orientation .The mobile robot is modeled as a non holonomic system subject to pure rolling , no slip constraints.To facilitate the controller design the kinematic equation can be converted into chained form using some change of co-ordinates.From the kinematic model of the robot a backstepping based tracking controller is derived. Simulation results demonstrate such trajectory tracking strategy for the kinematics indeed gives rise to an effective methodology to follow the desired trajectory asymptotically.