Trajectory Tracking for Wheeled Robot Based on Back-stepping

The wheeled robot is one of the well-known nonholonomic constrained systems. To solve the global trajectory tracking control of the wheeled robot, a kind of Back-stepping is proposed here to be applied into control algorithm. The method is to decompose the nonlinear system into several subsystems, then structuring Lyapunov function to these subsystems with stepping to finish the whole system control law by "reverse push". It has advantages of simple structure, less parameters, easiness of programming realization and global convergence. The trajectory tracking control of the wheeled robot can be effectively solved with the kinematics model of the wheeled robot using the Back-stepping algorithm. By the comparison of mathematic simulation, the superiority and effectiveness of the methods are proved.