Adaptive Back-Stepping Control for Wheeled Robot with Uncertainty

Abstract:

Problems trajectory tracking of wheeled robot with uncertainty were studied. The paper proposes an back-stepping PID control algorithms base on Lyapunov theory. Mode was established base on the assumed modes method, Lagrange principle and momentum conservation. The controller is educed by back-stepping design. Complicated system is decompounded to some ordinary subsystem. Control system stability is ensured base on Lyapunov theory. The simulation resulted show that controller can improves the control accuracy and the asymptotic convergence of tracking error. Even bigger errors of beginning are appeared. The presented back-stepping PID controller can reach good control precision.

• Periodical: Advanced Materials Research (Volume 787)
• Pages: 850-854
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.787.850
• Online since: September 2013
• Authors: Wen Hui Zhang
• Keywords: Back-Stepping, Trajectory Tracking, Wheeled Robot

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