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Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique

Nonholonomic system is a mechanical system that is subject to Nonholonomic constraints. They are the contraints on the velocity of the system which cannot be integrated into position constraints that can be used to reduce the number of generalized coordinates. Mobile robots constitute a typical exam...

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Main Authors: Sulaiman, Noor Asyikin, Md Yusop, Azdiana, Samsudin, Sharatul Izah
Format: Article
Language:English
Published: Penerbit Universiti, UTeM 2010
Subjects:
T Technology (General)
TJ Mechanical engineering and machinery
Online Access:http://eprints.utem.edu.my/id/eprint/21110/3/PJP%20SYIKIN%202008.pdf
http://eprints.utem.edu.my/id/eprint/21110/
http://journal.utem.edu.my/index.php/jmet/article/view/381/262
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spelling my.utem.eprints.211102021-07-13T21:07:23Z http://eprints.utem.edu.my/id/eprint/21110/ Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique Sulaiman, Noor Asyikin Md Yusop, Azdiana Samsudin, Sharatul Izah T Technology (General) TJ Mechanical engineering and machinery Nonholonomic system is a mechanical system that is subject to Nonholonomic constraints. They are the contraints on the velocity of the system which cannot be integrated into position constraints that can be used to reduce the number of generalized coordinates. Mobile robots constitute a typical example of non-holonomic systems. This projects attempts to control a nonholonomic mobile robot to track the desired trajectories. In this project, the combination of kinematics and dynamics of the mobile robot are used to control the robot using backstepping technique. Two types of input are presented in this paperwork. From the simulation results, the controller is able to control a non-holonomic mobile robot to track the desired trajectories. All simulations are performed using SIMULINK/MATLAB. Penerbit Universiti, UTeM 2010 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/21110/3/PJP%20SYIKIN%202008.pdf Sulaiman, Noor Asyikin and Md Yusop, Azdiana and Samsudin, Sharatul Izah (2010) Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique. Journal Of Mechanical Engineering And Technology (JMET), 2 (1). pp. 85-92. ISSN 2180-1053 http://journal.utem.edu.my/index.php/jmet/article/view/381/262
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic T Technology (General)
TJ Mechanical engineering and machinery
spellingShingle T Technology (General)
TJ Mechanical engineering and machinery
Sulaiman, Noor Asyikin
Md Yusop, Azdiana
Samsudin, Sharatul Izah
Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique
description Nonholonomic system is a mechanical system that is subject to Nonholonomic constraints. They are the contraints on the velocity of the system which cannot be integrated into position constraints that can be used to reduce the number of generalized coordinates. Mobile robots constitute a typical example of non-holonomic systems. This projects attempts to control a nonholonomic mobile robot to track the desired trajectories. In this project, the combination of kinematics and dynamics of the mobile robot are used to control the robot using backstepping technique. Two types of input are presented in this paperwork. From the simulation results, the controller is able to control a non-holonomic mobile robot to track the desired trajectories. All simulations are performed using SIMULINK/MATLAB.
format Article
author Sulaiman, Noor Asyikin
Md Yusop, Azdiana
Samsudin, Sharatul Izah
author_facet Sulaiman, Noor Asyikin
Md Yusop, Azdiana
Samsudin, Sharatul Izah
author_sort Sulaiman, Noor Asyikin
title Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique
title_short Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique
title_full Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique
title_fullStr Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique
title_full_unstemmed Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique
title_sort solving tracking problem of a nonholonomic wheel mobile robot using backstepping technique
publisher Penerbit Universiti, UTeM
publishDate 2010
url http://eprints.utem.edu.my/id/eprint/21110/3/PJP%20SYIKIN%202008.pdf
http://eprints.utem.edu.my/id/eprint/21110/
http://journal.utem.edu.my/index.php/jmet/article/view/381/262
_version_ 1706960966204260352
score 13.211869

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