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Backstepping Control of Nonholonomic Car-like Mobile Robot in Chained Form

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Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 538))

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Abstract

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.

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References

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Acknowledgements

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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Authors and Affiliations

  1. Robotics and Unmanned Research Group (RUS), Instrument and Control Engineering (ICE) Cluster, Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, 26600, Pekan, Pahang, Malaysia

    Norsuryani Zainal Abidin, Nurul Ain Mohamed, Zainah Md. Zain, Maziyah Mat Noh & Dwi Pebrianti

  2. Faculty of Agro-Based Industry, University of Malaysia Kelantan, Locked Bag no. 100, 17600, Jeli, Kelantan, Malaysia

    Norhafizah Md. Zain

Authors
  1. Norsuryani Zainal Abidin
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  2. Nurul Ain Mohamed
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  3. Zainah Md. Zain
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  4. Maziyah Mat Noh
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  5. Norhafizah Md. Zain
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  6. Dwi Pebrianti
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Corresponding author

Correspondence to Zainah Md. Zain .

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Editors and Affiliations

  1. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Zainah Md Zain

  2. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Hamzah Ahmad

  3. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Dwi Pebrianti

  4. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Mahfuzah Mustafa

  5. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Nor Rul Hasma Abdullah

  6. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Rosdiyana Samad

  7. Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Maziyah Mat Noh

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Zainal Abidin, N., Mohamed, N.A., Md. Zain, Z., Mat Noh, M., Md. Zain, N., Pebrianti, D. (2019). Backstepping Control of Nonholonomic Car-like Mobile Robot in Chained Form. In: Md Zain, Z., et al. Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 . Lecture Notes in Electrical Engineering, vol 538. Springer, Singapore. https://doi.org/10.1007/978-981-13-3708-6_15

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  • DOI: https://doi.org/10.1007/978-981-13-3708-6_15

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-13-3707-9

  • Online ISBN: 978-981-13-3708-6

  • eBook Packages: EngineeringEngineering (R0)

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