Control of a nonholonomic mobile robot: Backstepping kinematics into dynamics. (English) Zbl 0897.70019

We present a dynamical extension that makes possible the integration of a kinematic controller and a torque controller for nonholonomic mobile robots. A combined kinematic/torque control law is developed using backstepping, and asymptotic stability is guaranteed by Lyapunov theory. This control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following, and stabilization about a desired posture. Moreover, we propose a robust-adaptive controller based on neural networks (NNs). The NN controller can deal with unmodeled bounded disturbances and/or unstructured unmodeled dynamics in the vehicle. We use on-line NN weight tuning algorithms that do not require off-line learning yet guarantee small tracking errors and bounded control signals.


70Q05 Control of mechanical systems
70B15 Kinematics of mechanisms and robots
70F25 Nonholonomic systems related to the dynamics of a system of particles
93C85 Automated systems (robots, etc.) in control theory
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