Zainah, Md. Zain and Nurul Ain, Mohamed and Maziyah, Mat Noh and Pebrianti, Dwi (2018) Backstepping control of nonholonomic car-like mobile robot in chained form. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology. Lecture Notes in Electrical Engineering . Springer Singapore, Singapore, pp. 173-180. ISBN 978-981-13-3708-6 (Unpublished)
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Abstract
This project is attempts to stabilize an underactuated system based on the backstepping approach. The discontinuous time-invariant state feedback controller is designed for exponential stabilization of underactuated nonho-lonomic systems in chained form. System dynamic of the car-like robot with nonholonomic constraints were employed. The validity of the proposed ap-proaches is tested through simulation on a car-like vehicle using Matlab soft-ware.
| Item Type: | Book Chapter |
|---|---|
| Additional Information: | Indexed by Springer |
| Uncontrolled Keywords: | Backstepping control; Underactuated system; Mobile robot |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Pn. Hazlinda Abd Rahman |
| Date Deposited: | 24 Dec 2018 07:22 |
| Last Modified: | 17 May 2019 08:24 |
| URI: | http://umpir.ump.edu.my/id/eprint/22931 |
| Download Statistic: | View Download Statistics |
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