<title>Robust backstepping control of tracked mobile robot</title>

Abstract

This paper addresses the tracking problem of tracked mobile robot. After the kinematic model of the nonholonomic system has been discussed, a robust motion controller based on backstepping technique is proposed for the TMR. Some singular perturbations, which maybe occur in practical situations, are also taken into account in order to ensure the tracking error of the closed-loop system to converge toward zero. Simulation results are provided to validate that the proposed controller ensure the TMR asymptotically track the desire trajectory.