Robust backstepping tracking control of mobile robot based on nonlinear disturbance observer

• Main Authors: Moqbel Obaid, Mahmood Ali, Husain, Abdul Rashid, Al-Kubati, Ali Abdo Mohammed
• Format: Article
• Published: Institute of Advanced Engineering and Science 2016
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/72704/; https://www.scopus.com/inward/record.uri?eid=2-s2.0-85012054619&doi=10.11591%2fijece.v6i2.9594&partnerID=40&md5=9d094cbd6c46a1b2b0eafb3245306649

This paper presents a robust backstepping control (BC) methodbased on nonlinear disturbance observer (NDOB) for trajectory tracking of the nonholonomic wheeled mobile robot (WMR) in the presence of external disturbances and parameters uncertainties. At first, a bounded Fuzzy logic based backstepping...