Backstepping controller for a wheeled mobile robot

Abstract

In this paper, a control algorithm based on Backstepping technique for differential drive mobile robot path tracking is developed. The use of backstepping theory to solve the problem of path tracking is relatively new in the field of mobile robots control. Numerical simulations were conducted to show the effectiveness of the proposed algorithms to solve the nonholonomic constraints of the mobile robot, and its ability to achieve satisfactory performance. The stability of the system is proven via Lyapunov theory.