Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots
This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid-Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running....
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2013-01-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/55059 |
| _version_ | 1828792770028896256 |
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| author | Eun-Ju Hwang Hyo-Seok Kang Chang-Ho Hyun Mignon Park |
| author_facet | Eun-Ju Hwang Hyo-Seok Kang Chang-Ho Hyun Mignon Park |
| author_sort | Eun-Ju Hwang |
| collection | DOAJ |
| description | This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid-Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running. A robust controller is synthesized in the backstepping approach and the Lyapunov redesign technique, which forces the error dynamics to stabilize to the reference trajectories. We design an additional feedback control - a Lyapunov redesign - such that the overall control stabilizes the actual system in the presence of uncertainty and perturbation with the knowledge of the Lyapunov function. Simulation results are provided to validate and analyse the performance and stability of the proposed controller. |
| first_indexed | 2024-12-12T03:14:29Z |
| format | Article |
| id | doaj.art-445f58fca3c34c618b9b391d5bfda4cd |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-12T03:14:29Z |
| publishDate | 2013-01-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-445f58fca3c34c618b9b391d5bfda4cd2022-12-22T00:40:19ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-01-011010.5772/5505910.5772_55059Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile RobotsEun-Ju Hwang0Hyo-Seok Kang1Chang-Ho Hyun2Mignon Park3 School of Electrical and Electronic Engineering, Yonsei University, Korea School of Electrical and Electronic Engineering, Yonsei University, Korea School of Electrical Electronic and Control Engineering, Kongju National University, Korea School of Electrical and Electronic Engineering, Yonsei University, KoreaThis paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid-Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running. A robust controller is synthesized in the backstepping approach and the Lyapunov redesign technique, which forces the error dynamics to stabilize to the reference trajectories. We design an additional feedback control - a Lyapunov redesign - such that the overall control stabilizes the actual system in the presence of uncertainty and perturbation with the knowledge of the Lyapunov function. Simulation results are provided to validate and analyse the performance and stability of the proposed controller.https://doi.org/10.5772/55059 |
| spellingShingle | Eun-Ju Hwang Hyo-Seok Kang Chang-Ho Hyun Mignon Park Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots International Journal of Advanced Robotic Systems |
| title | Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots |
| title_full | Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots |
| title_fullStr | Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots |
| title_full_unstemmed | Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots |
| title_short | Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots |
| title_sort | robust backstepping control based on a lyapunov redesign for skid steered wheeled mobile robots |
| url | https://doi.org/10.5772/55059 |
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