Integrated Backstepping Mobile Robot Controller Design by Applying Sum of Squares Approach

摘要

The paper presents a sum of squares (SOS) based backstepping control design method for a three wheels omni-directional mobile robot. The characteristic of the strict-feedback system associated with mobile robots is considered to construct the backstepping controller. To account for the saturation problem in the mobile robot, the SOS conditions are developed based on the backstepping controller framework to achieve stability and enlarge the guaranteed region of convergence. Computer simulations for mobile robots demonstrate the effectiveness of the proposed SOS-based backstepping controller design method.