Tracking Control of Differential-Drive Wheeled Mobile Robots Using a Backstepping-Like Feedback Linearization

Volume: 40, Issue: 6, Pages: 1285 - 1295
Published: Nov 1, 2010
Abstract
This paper proposes a tracking control method for differential-drive wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. Unlike previous backstepping controllers for wheeled mobile robots, a backstepping-like feedback control structure is proposed in the form of a cascaded kinematic and dynamic linearization to have a simpler and modular control structure. First, the pseudo commands for the...
Paper Details
Title
Tracking Control of Differential-Drive Wheeled Mobile Robots Using a Backstepping-Like Feedback Linearization
Published Date
Nov 1, 2010
Volume
40
Issue
6
Pages
1285 - 1295
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