Comparison of a Backstepping and a Fuzzy Controller for Tracking a Trajectory with a Mobile Robot

  • Rodrigo Mattos da SilvaEmail author
  • Marco Antonio de Souza Leite Cuadros
  • Daniel Fernando Tello Gamarra
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 941)


This work aims to compare the application of two tracking controllers for a mobile robot in a trajectory tracking task. The first method uses a heuristic approach based on the prior knowledge of the designer, while the second method uses mathematical model based on the robot kinematics. Both systems employ the estimated robot position derived from the encoder sensors using the dead reckoning method. The paper shows experimental results with a real robot following a predefined path to explore the use of these techniques.


Mobile robots Fuzzy control Dead-reckoning Backstepping controller 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Rodrigo Mattos da Silva
    • 1
    Email author
  • Marco Antonio de Souza Leite Cuadros
    • 2
  • Daniel Fernando Tello Gamarra
    • 1
  1. 1.Universidade Federal de Santa MariaSanta MariaBrazil
  2. 2.Instituto Federal do Espirito SantoSerraBrazil

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