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Time varying backstepping control for trajectory tracking of mobile robot

This paper presents a time varying backstepping tracking controller (TVBTC) for the kinematic model of the non-holonomic wheeled mobile robot (WMR) that can improves the transient performances of the standard backstepping control scheme. The proposed TVBTC is derived based on the analysis of the err...

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Main Authors: Obaid, M. A. M., Husain, A. R.
Format: Article
Published: Inderscience Publishers 2017
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/76353/
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85018189804&doi=10.1504%2fIJCVR.2017.081235&partnerID=40&md5=9b5de4aeb1cf89fbfafaddc10e7f02c4
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spelling my.utm.763532018-06-29T22:03:48Z http://eprints.utm.my/id/eprint/76353/ Time varying backstepping control for trajectory tracking of mobile robot Obaid, M. A. M. Husain, A. R. TK Electrical engineering. Electronics Nuclear engineering This paper presents a time varying backstepping tracking controller (TVBTC) for the kinematic model of the non-holonomic wheeled mobile robot (WMR) that can improves the transient performances of the standard backstepping control scheme. The proposed TVBTC is derived based on the analysis of the error dynamic, as well as the stability conditions of the controlled system. The asymptotic stability of the system and the convergence of the posture errors to zero are guaranteed using the Lyapunov stability theory. In comparison with the other tracking control methods for the mobile robot, the simulation results demonstrate that the transient performance can be improved significantly using the proposed TVBTC, which is capable to track a circular path with faster settling time and minimal overshoot. In addition, the TVBTC can efficiently handle a situation with arbitrarily large initial tracking errors and it is capable to produce smooth and bounded velocity output in a finite time interval. The simulation results show the effectiveness of the proposed tracking controller at the starting time. Inderscience Publishers 2017 Article PeerReviewed Obaid, M. A. M. and Husain, A. R. (2017) Time varying backstepping control for trajectory tracking of mobile robot. International Journal of Computational Vision and Robotics, 7 (1-2). pp. 172-181. ISSN 1752-9131 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85018189804&doi=10.1504%2fIJCVR.2017.081235&partnerID=40&md5=9b5de4aeb1cf89fbfafaddc10e7f02c4
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Obaid, M. A. M.
Husain, A. R.
Time varying backstepping control for trajectory tracking of mobile robot
description This paper presents a time varying backstepping tracking controller (TVBTC) for the kinematic model of the non-holonomic wheeled mobile robot (WMR) that can improves the transient performances of the standard backstepping control scheme. The proposed TVBTC is derived based on the analysis of the error dynamic, as well as the stability conditions of the controlled system. The asymptotic stability of the system and the convergence of the posture errors to zero are guaranteed using the Lyapunov stability theory. In comparison with the other tracking control methods for the mobile robot, the simulation results demonstrate that the transient performance can be improved significantly using the proposed TVBTC, which is capable to track a circular path with faster settling time and minimal overshoot. In addition, the TVBTC can efficiently handle a situation with arbitrarily large initial tracking errors and it is capable to produce smooth and bounded velocity output in a finite time interval. The simulation results show the effectiveness of the proposed tracking controller at the starting time.
format Article
author Obaid, M. A. M.
Husain, A. R.
author_facet Obaid, M. A. M.
Husain, A. R.
author_sort Obaid, M. A. M.
title Time varying backstepping control for trajectory tracking of mobile robot
title_short Time varying backstepping control for trajectory tracking of mobile robot
title_full Time varying backstepping control for trajectory tracking of mobile robot
title_fullStr Time varying backstepping control for trajectory tracking of mobile robot
title_full_unstemmed Time varying backstepping control for trajectory tracking of mobile robot
title_sort time varying backstepping control for trajectory tracking of mobile robot
publisher Inderscience Publishers
publishDate 2017
url http://eprints.utm.my/id/eprint/76353/
https://www.scopus.com/inward/record.uri?eid=2-s2.0-85018189804&doi=10.1504%2fIJCVR.2017.081235&partnerID=40&md5=9b5de4aeb1cf89fbfafaddc10e7f02c4
_version_ 1643657286640467968
score 13.211869

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