Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique

Sulaiman, Noor Asyikin and Md Yusop, Azdiana and Samsudin, Sharatul Izah (2010) Solving Tracking Problem Of A Nonholonomic Wheel Mobile Robot Using Backstepping Technique. Journal Of Mechanical Engineering And Technology (JMET), 2 (1). pp. 85-92. ISSN 2180-1053

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Abstract

Nonholonomic system is a mechanical system that is subject to Nonholonomic constraints. They are the contraints on the velocity of the system which cannot be integrated into position constraints that can be used to reduce the number of generalized coordinates. Mobile robots constitute a typical example of non-holonomic systems. This projects attempts to control a nonholonomic mobile robot to track the desired trajectories. In this project, the combination of kinematics and dynamics of the mobile robot are used to control the robot using backstepping technique. Two types of input are presented in this paperwork. From the simulation results, the controller is able to control a non-holonomic mobile robot to track the desired trajectories. All simulations are performed using SIMULINK/MATLAB.

Item Type:	Article
Uncontrolled Keywords:	Backstepping technique, non-holonomic system, mobile robot
Subjects:	T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery
Divisions:	Faculty of Electronics and Computer Engineering > Department of Industrial Electronics
Depositing User:	Mohd. Nazir Taib
Date Deposited:	25 Oct 2018 03:28
Last Modified:	13 Jul 2021 21:07
URI:	http://eprints.utem.edu.my/id/eprint/21110
Statistic Details:	View Download Statistic

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