@inproceedings{ecb2d4761ca74df1b7bfe246966e1c73,
title = "Robust Lateral Tracking Control of a Nonholonomic Mobile Robot",
abstract = "This paper presents a novel approach for nonholonomic mobile robots tracking the target with uncertain motion laterally. Firstly, the relative motion model between the moving target and the mobile robot is established to obtain the tracking error system. So the target tracking problem is transformed into the stabilization control problem of the tracking error system. Then, based on sliding mode and backstepping techniques, the control laws of the tracking error system are designed respectively, guaranteeing that the states of the tracking error system converge to zero. In addition, the effectiveness of the designed controller is verified by numerical simulation, showing that the mobile robot can keep a fixed distance from the moving target laterally.",
keywords = "Backstepping, Lateral tracking control, Mobile robot, Sliding mode",
author = "Yujie Wang and Baoli Ma",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 18th Chinese Intelligent Systems Conference, CISC 2022 ; Conference date: 15-10-2022 Through 16-10-2022",
year = "2022",
doi = "10.1007/978-981-19-6203-5\_9",
language = "英语",
isbn = "9789811962028",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "85--94",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu and Shoujun Zhao",
booktitle = "Proceedings of 2022 Chinese Intelligent Systems Conference - Volume I",
address = "德国",
}