Adaptive backstepping control of wheeled mobile robots with parameter uncertainties

摘要

Based on the dynamics model of wheeled mobile robots,an adaptive backstepping method is used to design the controller for tracking the trajectory of wheeled mobile robots with parameter uncertainties.The adaptive control laws based on the state feedback are developed with backstepping approach through a step-by-step selection of appropriate Lyapunov function.The motion stability of the wheeled mobile robot is proved by using the Lyapunov stability theory.Simulation results show that the proposed method greatly compensates the effects of parameter uncertainties and improves the system tracking accuracy and robustness,in comparison with traditional PID control laws.