Dynamic Modeling and Backstepping Control of a Wheeled Mobile Robot With Skidding and Slipping effects

https://doi.org/10.58571/CNCA.AMCA.2022.060

Resumen: The development of a tracking control using a backstepping method for a wheeled mobile robot under the effect of skidding and slipping is presented in this paper. The dynamic model of a differential drive mobile robot with skidding and slipping effects is used to solve the trajectory tracking problem. The proposed control scheme is based on a backstepping strategy and under the assumption of knowledge of the disturbance. Simulations results are showed, to prove the effectiveness of the proposed method together with a comparison with similar strategies already presented in the literature.

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Aguilar-Pérez, J., Velasco-Villa, M., Castro-Linares, R. & González-Sierra, J. Dynamic Modeling and Backstepping Control of a Wheeled Mobile Robot With Skidding and Slipping effects. Memorias del Congreso Nacional de Control Automático, pp. 250-255, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.060

Palabras clave

Control de Sistemas No Lineales; Control Robusto; Modelado e Identificación de Sistemas

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