Abstract
This project is attempts to stabilize an underactuated system based on the backstepping approach. The discontinuous time-invariant state feedback controller is designed for exponential stabilization of underactuated nonholonomic systems in chained form. System dynamic of the car-like robot with nonholonomic constraints were employed. The validity of the proposed approaches is tested through simulation on a car-like vehicle using Matlab software.
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Acknowledgements
The authors would like to thank for the support given to this research by Universiti Malaysia Pahang (UMP) under grant RDU170366.
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Zainal Abidin, N., Mohamed, N.A., Md. Zain, Z., Mat Noh, M., Md. Zain, N., Pebrianti, D. (2019). Backstepping Control of Nonholonomic Car-like Mobile Robot in Chained Form. In: Md Zain, Z., et al. Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 . Lecture Notes in Electrical Engineering, vol 538. Springer, Singapore. https://doi.org/10.1007/978-981-13-3708-6_15
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DOI: https://doi.org/10.1007/978-981-13-3708-6_15
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