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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control) Indonesian Journal of Electrical Engineering and Computer Science
Benchikh Laredj
University of Evry
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.
Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking Ibari Benaoumeur; Benchikh Laredj; Hanifi Elhachimi Amar Reda; Ahmed-foitih Zoubir
Indonesian Journal of Electrical Engineering and Computer Science Vol 2, No 3: June 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v2.i3.pp478-485

Abstract

This paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobile robots. 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 unicycle-like mobile robot is used to provides the desired values of the linear and angular velocities for the given trajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the tracking errors. Simulation and experimental results show the effectiveness of the proposed robust controller in term of accuracy and stability under different load conditions.
Co-Authors Ahmed-Foitih Zoubir Ahmed-Foitih Zoubir Bouzgou Kamel Hanifi Elhachimi Amar Reda Ibari Benaoumeur Ibari Benaoumeur