Variable Structure Control of Nonholonomic Mobile Robots

Abstract

This paper addresses the problem of tracking control of nonholonomic mobile robot systems. By using the backstepping method, a variable structure tracking controller is proposed for a kinematic model of a mobile robot with two actuated wheels. The asymptotic stability of the closed loop system is guaranteed by Lyapunov direct method. The simulation example is provided for illustration of the robust tracking ability of the controller.