Discrete Tracking Control of Nonholonomic Mobile Robots: Backstepping Design Approach

In this paper we propose a discrete tracking control of
nonholonomic mobile robots with two degrees of freedom. The
electromechanical model of a mobile robot moving on a horizontal
surface without slipping, with two rear wheels controlled by two
independent DC electric, and one front roal wheel is considered. We
present backstepping design based on the Euler approximate discretetime
model of a continuous-time plant. Theoretical considerations are
verified by numerical simulation.

• Alexander S. Andreev
• Olga A. Peregudova

• Actuator Dynamics
• Backstepping
• Discrete-Time Controller
• Lyapunov Function
• Wheeled Mobile Robot.

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