A Backstepping Non-smooth Controller for ROS-Based Differential-Drive Mobile Robots

Abstract

This chapter presents a non-linear controller for a mobile robot based on feedback linearization, non-smooth feedback and backstepping. The stability and convergence of the controller to the reference pose is proved by using the Lyapunov theory and the Barbalat Lemma. The controller design is based on a robot model considering its kinematics and dynamics, and hence the control inputs are the torques applied on the wheels. Contrariwise to most available implementation of controllers in the Robot Operating System, which implements a set of single input, single output controllers using the proportional + integral + derivative control law, here a truly multi-input, multi-output non-linear controller is considered. Results showing the effectiveness of the proposed controller for the setting point and the trajectory tracking problems were obtained by using the Gazebo robot simulator and Rviz.