Backstepping control with sum of squares design for Omni-directional mobile robots

Shun Hung Chen, Jyh-Chin Juang, Sin Hwa Su

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper presents a backstepping control method using sum of squares (SOS) technique to synthesize a nonlinear controller for a three wheels omni-directional mobile robot. The characteristic of strict-feedback systems is also applied to construct the backstepping controller. The controller design satisfies the Lyapunov direct method and LaSalle-Yoshizawa theorem so that the stability of control systems can be assured. Subsequently, the sum of squares conditions are developed to constraint the performances such that the backstepping controller is optimal. Computer simulations and experimental results for mobile robots demonstrate the effectiveness of the proposed backstepping controller.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages545-550
Number of pages6
Publication statusPublished - 2009 Dec 1
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: 2009 Aug 182009 Aug 21

Publication series

NameICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period09-08-1809-08-21

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Fingerprint Dive into the research topics of 'Backstepping control with sum of squares design for Omni-directional mobile robots'. Together they form a unique fingerprint.

Cite this