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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control)
Ibari Benaoumeur
University of Sciences and Technology of Oran USTO/MB. Oran
Computer Science & IT

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Integral Backstepping Approach for Mobile Robot Control Bouzgou Kamel; Ibari Benaoumeur; Benchikh Laredj; Ahmed-Foitih Zoubir
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 15, No 3: September 2017
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v15i3.5667

Abstract

This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control.
Co-Authors Ahmed-Foitih Zoubir Benchikh Laredj Bouzgou Kamel