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Design and Implementation Based on Backstepping for Tracking Control of Nonholonomic Mobile Robots

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Advances in Mechanism, Machine Science and Engineering in China (CCMMS 2022)

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

Differential driven mobile robots are typical nonholonomic systems, involving system nonlinearity, which brings challenges to trajectory tracking control. We propose a kinematics control strategy based on backstepping to solve the nonlinearity of the system in this paper, in which the system is divided into three subsystems and two virtual control variables are derived to design the controller. Benefiting from this improvement, the design of the Lyapunov function is simplified and the nonlinearity is solved effectively. In terms of LaSalle invariance theorem, global asymptotic convergence of the provided control scheme is achievable. Furthermore, the effectiveness of the derived control method is validated in both the co-simulation of MATLAB and ADAMS (performed on a differential driven wheeled mobile robot) and the experiment (implemented on a tracked mobile robot). Results indicate that the controller is effective to make the nonholonomic mobile robots converge to reference trajectories in finite time.

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Acknowledgements

Supported by National Natural Science Foundation of China under Grant 52175237 and Beijing Municipal Science and Technology Commission under Grant Z211100004021022.

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Authors and Affiliations

  1. The State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Quan Liu, Zhao Gong, Zhenguo Nie & Xin-Jun Liu

  2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, 100084, China

    Zhao Gong, Zhenguo Nie & Xin-Jun Liu

Authors
  1. Quan Liu
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  2. Zhao Gong
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  3. Zhenguo Nie
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  4. Xin-Jun Liu
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Corresponding author

Correspondence to Xin-Jun Liu .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Tsinghua University, Beijing, China

    Xinjun Liu

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Liu, Q., Gong, Z., Nie, Z., Liu, XJ. (2023). Design and Implementation Based on Backstepping for Tracking Control of Nonholonomic Mobile Robots. In: Liu, X. (eds) Advances in Mechanism, Machine Science and Engineering in China. CCMMS 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-9398-5_117

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  • DOI: https://doi.org/10.1007/978-981-19-9398-5_117

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-9397-8

  • Online ISBN: 978-981-19-9398-5

  • eBook Packages: EngineeringEngineering (R0)

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