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Proceedings Paper

Robust backstepping control of tracked mobile robot
Author(s): Meng Ji; Zhenguo Sun; Junbo Wang; Qiang Chen
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Paper Abstract

This paper addresses the tracking problem of tracked mobile robot. After the kinematic model of the nonholonomic system has been discussed, a robust motion controller based on backstepping technique is proposed for the TMR. Some singular perturbations, which maybe occur in practical situations, are also taken into account in order to ensure the tracking error of the closed-loop system to converge toward zero. Simulation results are provided to validate that the proposed controller ensure the TMR asymptotically track the desire trajectory.

Paper Details

Date Published: 18 February 2002
PDF: 9 pages
Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); doi: 10.1117/12.457448
Show Author Affiliations
Meng Ji, Tsinghua Univ. (United States)
Zhenguo Sun, Tsinghua Univ. (China)
Junbo Wang, Tsinghua Univ. (China)
Qiang Chen, Tsinghua Univ. (China)


Published in SPIE Proceedings Vol. 4573:
Mobile Robots XVI
Douglas W. Gage; Howie M. Choset, Editor(s)

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