Gh. Zidani

Papers

Total Citations

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About

Gh. Zidani is a researcher whose work centers on the control and navigation of autonomous mobile robots, with a particular emphasis on nonholonomic systems like differential drive platforms. Their most notable contribution is the development of a backstepping controller for wheeled mobile robot path tracking, detailed in a 2015 paper that has garnered 23 citations. This work introduced a relatively novel application of backstepping theory to solve the path-tracking problem, offering a systematic and robust approach to stabilizing robot motion along desired trajectories. Through numerical simulations, Zidani demonstrated the effectiveness of this control strategy, laying groundwork for more advanced nonlinear control techniques in robotics. The paper remains a reference point for researchers exploring Lyapunov-based control methods in mobile robotics, highlighting Zidani's role in advancing the theoretical and practical tools for autonomous navigation. Their contributions are particularly valuable for students and engineers seeking to understand how backstepping can be applied to real-world robotic systems, bridging control theory and mobile robot dynamics.