Estratégia de controlador backstepping aplicada em um robô móvel não holonômico

Abstract

In this work, we approach the control of non-holonomic mobile robots. We designed a backstepping controller project focused on the trajectory tracking of mobile robots. Furthermore, an asymptotic stability analysis based on Lyapunov’s theory was presented to guarantee the robot’s stability from tracking errors. Initially, we reproduce a combined kinematic torque control law, developed using backstepping. Next, we approach a backstepping controller project to track non-holonomic mobile robots’ trajectories. The main objective of the addressed control algorithm is to design a robust output tracking controller. The kinematic tracking controller of a unicycle-type mobile robot is used to provide the desired linear and angular velocity values for the given trajectory. In this work, the simulation results show the effectiveness of the proposed non-linear controller in terms of precision and stability under a defined circular path.