Liang Ding, Chao Chen, Yuankai Li, Guangjun Liu, Haibo Gao, and Zongquan Deng
Nonholonomic wheeled mobile, tracking control, slope, backstepping method, feedback linearization
The control of nonholonomic wheeled mobile robots (WMRs) has attracted the interest of many researchers owing to the difficulties caused by the nonholonomic characteristics. However, majority of the existing control methods are developed for motion on flat terrains. To satisfy the requirements of planetary exploration rovers that traverse over rough terrains, this study addresses the tracking control of WMRs on slopes. The problem is formulated, including the tracking objective, using nonholonomic kinematic models and error equations. Backstepping method is used to obtain a stable control law based on the kinematic model, and the stability is proved using the Lyapunov theory. On the other hand, feedback linearization is used to obtain a stable control law based on the dynamic model. Furthermore, all control algorithms are verified by simulations.
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