Trajectory Tracking and Stabilization of Nonholonomic Wheeled Mobile Robot Using Recursive Integral Backstepping Control

Trajectory Tracking and Stabilization of Nonholonomic Wheeled Mobile Robot Using Recursive Integral Backstepping Control

In this paper, a generalized nontriangular normal form is presented to facilitate designing a recursive integral backstepping control for the class of underactuated nonholonomic systems, i.e., wheeled mobile robots (WMRs) that perform posture stabilization and trajectory tracking in environments wit...

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Bibliographic Details
Main Authors: Muhammad Junaid Rabbani, Attaullah Y. Memon
Format: Article
Language:English
Published: MDPI AG 2021-08-01
Series:Electronics
Subjects:
integral backstepping control
feedback linearization
nontriangular normal form
internal dynamics
tracking
posture stabilization
Online Access:https://www.mdpi.com/2079-9292/10/16/1992

Internet

https://www.mdpi.com/2079-9292/10/16/1992

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