In this chapter, the backstepping control technique in Cartesian coordinates (CCC) proposed by Kanayama et al. [6, 7] used to solve the reference trajectory tracking problem for the kinematics of DWMRs is presented. The CCC is based on the kinematic model expressed in Cartesian coordinates and the backstepping control law is deduced from the stability proof using the Lyapunov-like analysis, which guarantees the asymptotic convergence of the posture error. Moreover, simulations and real-time results are presented and discussed to verify the performance of the CCC.
Backstepping Control
Studies in Systems, Decision and Control
2021-08-13
15 pages
Article/Chapter (Book)
Electronic Resource
English
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