Backstepping Control of Nonholonomic Car-like Mobile Robot in Chained Form
This project is attempts to stabilize an underactuated system based on the backstepping approach. The discontinuous time-invariant state feedback controller is designed for exponential stabilization of underactuated nonholonomic systems in chained form. System dynamic of the car-like robot with nonholonomic constraints were employed. The validity of the proposed approaches is tested through simulation on a car-like vehicle using Matlab software.
KeywordsBackstepping control Underactuated system Mobile robot
The authors would like to thank for the support given to this research by Universiti Malaysia Pahang (UMP) under grant RDU170366.
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