Trajectory tracking control of wheeled mobile robot based on fractional order backstepping

Abstract

A trajectory tracking problem for wheels mobile robot is presented in this paper. The central concept is based on the kinematics model of a two degree of freedom wheeled mobile robot, the fractional calculus is designed in the Backstepping control method. Using the idea of fractional Backstepping, a time-varying fractional order trajectory tracking feedback control law is proposed by constructing a virtual feedback variable. The simulation results and analyses show that the global asymptotic stability and the superiority of the presented control strategy are verified.