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ICRA
2002
IEEE

Discontinuous Backstepping for Stabilization of Nonholonomic Mobile Robots

9 years 4 months ago
Discontinuous Backstepping for Stabilization of Nonholonomic Mobile Robots
The paper presents a new method of performing integrator backstepping in systems that are discontinuous, either due to their inherent structure or because of the applied control input. The proposed technique is applied to the stabilization problem of the dynamic system of a nonholonomic mobile robot. Simulation studies indicate that the methodology can also help alleviate the problem of chattering that is commonly associated with discontinuous nonholonomic controllers.
Herbert G. Tanner, Kostas J. Kyriakopoulos
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Herbert G. Tanner, Kostas J. Kyriakopoulos
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