Backstepping tracking control for nonholonomic mobile robot

Abstract

The present paper aims to develop a control law approach for controlling a wheeled mobile robot. The present work investigates both the kinematic and dynamic control for guiding the wheeled mobile robot to follow the desired trajectory. Firstly, the kinematic model of the mobile robot is introduced. Secondly, the Backstepping controller (BSC) is required for controlling the wheeled mobile robot in order to follow the desired trajectory. The stability of the system is achieved using the Lyapunov stability theory. Then, the dynamic model is investigated in order to control the mobile robot in the real time. It is formulated by using Euler-Lagrange approach. To ameliorate the performance of the backstepping controller, a genetic algorithm was adopted to design an optimal control law. At the end, to prove the efficiency of the developed approach, simulation results are presented.