›› 2012, Vol. 42 ›› Issue (04): 1003-1007.

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Path-following controller for non-holonomic mobile robots based on feedback gain backstepping

JIA He-ming1, SONG Wen-long1, CHEN Zi-yin2   

  1. 1. College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China;
    2. College of Automation, Harbin Engineering University, Harbin 150001, China
  • Received:2011-06-06 Online:2012-07-01 Published:2012-07-01

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Abstract: In order to implement the path following control of wheeled mobile robot with non-holonomic constraint, the tracking error equations are established according to the virtual target method. Based on Lyapunov stability theorem, the backstepping method is designed using feedback gain technique. By tuning of the controller's feedback gain, the nonlinear terms in the error dynamic model can be compensated without direct use of nonlinear cancellation. This can also avoid the existence of high-order derivative of the predefined virtual control variable which is different from the traditional backstepping technique. Simulation results show that the parameters of the controller are easy to be adjusted, and can make wheeled mobile robot to track the desired arbitrary path precisely.

Key words: automatic control technology, wheeled mobile robot, path following control, non-holonomic constraint, backstepping, feedback gain

CLC Number: 

  • TP13
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