Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots

Abstract

This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid-Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running. A robust controller is synthesized in the backstepping approach and the Lyapunov redesign technique, which forces the error dynamics to stabilize to the reference trajectories. We design an additional feedback control -a Lyapunov redesign -such that the overall control stabilizes the actual system in the presence of uncertainty and perturbation with the knowledge of the Lyapunov function. Simulation results are provided to validate and analyse the performance and stability of the proposed controller.

Adaptive Sliding Mode Trajectory Tracking Control for WMR Considering Skidding and Slipping via Extended State Observer

“…A combined kinematic/torque controller was presented with the adaptive backstepping in [5], a finite-time tracking controller with output feedback was developed in [6], a data-based path tracking control algorithm was realized in [7,8], sliding-mode based algorithms [9][10][11] were presented to allow two different types of WMRs to track the reference path. [12][13][14][15] presented several other effective algorithms, such as the neural networks method [12], robust control scheme [13,14], and backstepping approach for path tracking control in [15]. Unfortunately, the controller in [5][6][7][8][9][10][11][12][13][14][15] had achieved certain performance on trajectory tracking based on nonslipping and nonskidding assumptions.…”

“…[12][13][14][15] presented several other effective algorithms, such as the neural networks method [12], robust control scheme [13,14], and backstepping approach for path tracking control in [15]. Unfortunately, the controller in [5][6][7][8][9][10][11][12][13][14][15] had achieved certain performance on trajectory tracking based on nonslipping and nonskidding assumptions.…”

Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties

“…This is due to the uncontrollability of their linear approximation and to Brockett's necessary condition, which is not satisfied for this kind of system [3]. To overcome these difficulties, various control strategies have been investigated among them: homogeneous and timevarying feedback [4], sinusoidal and polynomial controls [5], backstepping approaches [6,7], and hybrid controls [8]. In the real implementation, it is desired to design an inherently robust control which provides fast convergence and good robustness properties with respect to the parameter variation and the disturbances.…”

The design, simulation, and experiment of high-accuracy multi-axle electro-hydraulic control servo steering system

“…1 Many control strategies have been studied to improve maneuverability and stability, such as zero vehicle sideslip angle dispatching control, H 2 /H N optimization control, and adaptive robust control. [13][14][15][16][17][18][19] These multiaxle steering systems can achieve better performance than conventional hydraulic power steering system. However, all these steering systems use proportional valves in the hydraulic control systems, and proportional components limit steering performance due to poor inherent characteristics, such as dead zones, hysteresis, and frequency response.…”