Continuation Method of Backstepping Tracking Control for Car-Like Mobile Robots

摘要: The trajectory tracking problem for car-like mobile robots is investigated in this paper. For the robot moving with non-sliding wheels, nonholonomic constraints naturally arise, which techniques associated chained form developed before such as backstepping controller can be adopted. However, transformation from kinematic equation to system, singularity may occur restricts region of application. To solve problem, two sets complementary systems are used interchangeably that path global, i.e. every followed. A switching mechanism and a continuation method proposed generate smooth signals level, fed into dynamic steer privileged variables. Such hierarchical scheme design made possible by tacitly choosing coordinates deducing reduced Appell equations decoupled equations. deal uncertainties system parameters, an adaptive sliding mode dynamical subsequently drives all variables desired values natural mechanism. Simulation results demonstrate success systematic controller.