Trajectory Tracking of Autonomous Mobile Robot via Backstepping Control Approach

Abstract

One of the most challenging tasks in robotics is designing a controller for an autonomous mobile robot. In this work, a backstepping controller for trajectory tracking in a mobile robot of the unicycle type is presented. To calculate the required linear and angular velocity values for the dynamic controller, a kinematic controller is first created. To make sure the robot’s real velocity matches the intended velocity, a dynamic controller based on the backstepping approach is then created. The Lyapunov theorem is used to demonstrate the closed-loop control system’s stability. Lastly, trajectory-tracking task simulations are performed, and the outcomes show the effectiveness and practically of suggested method.