Academic Journals Database
Disseminating quality controlled scientific knowledge

Backstepping based Trajectory Tracking Control of a Four Wheeled Mobile Robot

ADD TO MY LIST
 
Author(s): Umesh Kumar | Nagarajan Sukavanam

Journal: International Journal of Advanced Robotic Systems
ISSN 1729-8806

Volume: 5;
Issue: 4;
Date: 2008;
Original page

Keywords: wheeled mobile robot | chained form systems | nonholonomic systems | trajectory tracking.

ABSTRACT
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.
Why do you need a reservation system?      Affiliate Program