Abstract
The mobile robot receives control commands through wireless communication in real time, and moves flexibly with desired speed, direction, and trajectory. The motion control system directly affects the overall performance of the robot system. Here, we establish the kinematic model of the independent dual rear wheel drive mobile robot, design the linear speed control rate and angular speed control rate, design the inversion controller through the backstepping method, and carry out offline simulation and real-time control research on the dual rear wheel independent drive mobile robot system. Compared with other linearization control methods, the backstepping method does not need to linearize the system, and it directly designs the recursive controller of the system while retaining the nonlinear term in the controlled object, so the designed controller has strong robustness.
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