Backstepping control of nonholonomic car-like mobile robot in chained form

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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
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