A backstepping non-linear controller for a mobile robot implemented in ROS

Abstract

This work presents an implementation on the Robot Operating System (ROS) of a multi input, multi output (MIMO) non-linear controller for a mobile robot. Contrariwise to almost all available implementation of controllers in ROS, which implements a set of single input, single output (SISO) controllers using the proportional-integral-derivative (PID) control law, here a truly MIMO non-linear controller, based on feedback linearization, coordinate transforms and backstepping is considered.