A Robust Path Tracking Controller for Autonomous Mobility with Control Delay Compensation Using Backstepping Control

A Robust Path Tracking Controller for Autonomous Mobility with Control Delay Compensation Using Backstepping Control

Control delay phenomena, such as time delays and actuator lags, can compromise the control performance of autonomous mobility systems, leading to increased control errors. Therefore, it is essential to develop a control delay compensation algorithm. This paper proposes a Lyapunov-based backstepping...

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Bibliographic Details
Main Authors: Munjung Jang, Sehwan Kim, Byeonghun Yoo, Kwangseok Oh
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Actuators
Subjects:
control delay compensation
lyapunov stability
backstepping control
recursive least squares
autonomous mobility
Online Access:https://www.mdpi.com/2076-0825/13/12/508
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