Theses and Dissertations - UTB/UTPA

Date of Award


Document Type


Degree Name

Master of Science (MS)


Electrical Engineering

First Advisor

Dr. Wenjie Dong

Second Advisor

Dr. Isaac Choutapalli

Third Advisor

Dr. Xiang Lian


In this thesis, distributed coordinate tracking control of multiple wheeled-mobile robots is studied. Control algorithms are proposed for both kinematic and dynamic models. All vehicle agents share the same mechanical structure. The communication topology is leader-follower topology and the reference signal is generated by the virtual leader. We will introduce two common kinematic models of WMR and control algorithms are proposed for both kinematic models with the aid of graph theory. Since it is more realistic that the control inputs are torques so dynamic extension is studied following by the kinematics. Torque controllers are designed with the aid of backstepping method so that the velocities of the mobile robots converge to the desired velocities. Because of the fact that in practice, the inertial parameter of WMR maybe not exactly known or even unknown, so both dynamics with and without inertial uncertainties are considered in this thesis.


Copyright 2015 Yifan Xing. All Rights Reserved.

Granting Institution

University of Texas-Pan American