Trajectory tracking control of nonholonomic mobile robots by Backstepping

This paper mainly research about the trajectory tracking control of nonholonomic mobile robots. Using the idea of Backstepping, a simple virtual variable is proposed and the corresponding feedback control law of nonholonomic mobile robot is designed via lyapunov direct method, at the same time it can be proved that the control effect can achieve global asymptotic stability. The proposing of a simple virtual variable makes the control law designing more easy. A simulation proves the system's global asymptotic stability, meanwhile, verifies the correctness and effectiveness of the control law. © 2011 Shanghai Jiaotong Univ.