A backstepping design approach to a class of mobile robots

Abstract

This paper considers the trajectory tracking of a class of mobile robots. First, a Lyapunov-based controller is designed to stabilize the robot's orientation angle. Then, a backstepping control law is proposed to drive the robot's position error to zero; hence, achieving asymptotic tracking of a reference trajectory. The stability of the closed-loop system is proved using Lyapunov theory. The effectiveness of the proposed controllers is demonstrated via numerical simulations.