Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking

International audienceThis paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobilerobots. The main object of the control algorithms developed is to design a robust output tracking controller.The design of the controller is based on the lyapunov theorem, kinematic tracking controller of an unicyclelikemobile robot is used to provides the desired values of the linear and angular velocities for the giventrajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the trackingerrors. Simulation and experimental results show the effectiveness of the proposed robust controller in termof accuracy and stability under different load conditions