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All Journal International Journal of Electrical and Computer Engineering
Nabila Rabbah
Hassan II University of Casablanca
Computer Science & IT Electrical & Electronics Engineering

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Optimal trajectory tracking control for a wheeled mobile robot using backstepping technique Said Fadlo; Abdelhafid Ait Elmahjoub; Nabila Rabbah
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 6: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i6.pp5979-5987

Abstract

This work studies an optimal trajectory tracking of a wheeled mobile robot with the objective of minimizing energy consumption. First, the mathematical model, which takes into account the kinematic model of the mobile robot and the dynamic model of the actuators is presented. Then, a backstepping controller is designed and its parameters are tuned to satisfy several strict criteria such as rapid convergence, matching desired trajectory, and minimizing energy. For that, two cost functions were investigated and the best one has been selected. The significant reduction in energy losses achieved for all the proposed motion scenarios proves the effectiveness of our approach.
Co-Authors Abdelhafid Ait Elmahjoub Said Fadlo