OTHER
Backstepping Control Design on the Dynamics of the Omni-Directional Mobile Robot
Qing Zhu Cui, Xun Li, Xiang Ke Wang, Meng Zhang
- Year
- 2012
- Citations
- 20
Abstract
The dynamical model of an omni-directional mobile robot is bulit based on the Newtonian mechanics. Correspondingly, a backstepping-based controller is then proposed with proven global stability by selecting a Lyapunov function and introducing a virtual control input for the built dynamical model. Simulation results show the effectiveness of the proposed controller.
Keywords
BacksteppingControl theory (sociology)Mobile robotController (irrigation)Control engineeringComputer scienceLyapunov functionControl-Lyapunov functionStability (learning theory)Robot
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