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ISSN: 2475-4811 (print)
ISSN: 2475-482X (online)
Journal of Vibration Testing and System Dynamics

C. Steve Suh (editor), Pawel Olejnik (editor),

Xianguo Tuo (editor)

Pawel Olejnik (editor)

Lodz University of Technology, Poland

Email: pawel.olejnik@p.lodz.pl

C. Steve Suh (editor)

Texas A&M University, USA

Email: ssuh@tamu.edu

Xiangguo Tuo (editor)

Sichuan University of Science and Engineering, China

Email: tuoxianguo@suse.edu.cn

Steering Control for a Class of Nonholonomic Wheeled Mobile Robots Using Adaptive Back Stepping

Journal of Vibration Testing and System Dynamics 1(3) (2017) 219--245 | DOI:10.5890/JVTSD.2017.09.004

Abdul Baseer Satti$^{1}$, Faisal Nadeem$^{2}$

$^{1}$ Griffith School of Engineering, Griffith University, Australia

$^{2}$ Department of Electronic Engineering, Shanghai Jiao Tong University, Shanghai, P. R. China

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Abstract

This paper presents a simple method of steering control strategy for a class of Nonholonomic wheeled mobile robots. The strategy is based on adaptive Backstepping technique and does not require the conversion of the model into a “chained form”, and so it does not depend on any special transformation methods. Control laws have been developed for five different types of mobile robot models. The control laws and the adaptive laws are derived in the sense of Lyapunov functions, so that the closed loop system’s stability can be guaranteed.

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