A Backstepping Control Method for Mobile Robot Path Tracking

Abstract

In this paper, the kinematic model of the mobile robot is built. Based on Backstepping time-varying state feedback method and Lyapunov theory, the time-varying feedback control law were designed and the global asymptotic stability is proved. Numerical simulations were conducted to show the effectiveness of the proposed algorithms. Critical errors about the mobile robot tracks different trajectories which makes the control algorithm does not converge were got.