Point Stabilization of a Nonholonomic Mobile Robot Based on Backstepping and Neural Dynamics

Abstract

Taking nonholonomic wheeled mobile robot as the research objective,this paper makes a deep study of point stabilization problem.Based on the posture error model in polar coordinate and model of wheeled mobile robots,a asymptotic point stabilization controller is designed by the integration of neural dynamics and Backstepping.This control strategy can solve the velocity and torque jump problem produced by initial error,and make the robot converge to target point quickly.Computer simulations validate the effectiveness of the proposed approach.