Adaptive Backstepping Control for a Unicycle-Type Mobile Robot

Keywords: Adaptive control, Backstepping control design, Lyapunov-based control, mobile robot


This paper considers the trajectory tracking of a unicycle-type mobile robot. The nonlinear dynamics of the mobile robot is treated as two subsystems for the robot’s orientation and position. A Lyapunov-based adaptive control law is proposed for asymptotic tracking of the robot’s orientation, while an adaptive backstepping control scheme is proposed for asymptotic tracking of the robot’s position. The synthesized controllers and derived tuning laws were shown to drive the error dynamics to zero; hence, trajectory tracking was achieved. Simulations were conducted to illustrate the effectiveness of the proposed approach.

Author Biography

Saleh Alshamali, Kuwait University Electrical Engineering Department

Electrical Engineering Department

Associate Professor

Electrical Engineering (1)