Experimental Verification for Adaptive Tracking Control of a Nonholonomic Mobile Robot

Autor:	Hsuan-Kuan Huang, Hung-Hsiu Yu
Rok vydání:	2007
Předmět:	Lyapunov function Nonholonomic system Engineering Adaptive control business.industry Stability (learning theory) Control engineering Mobile robot Robot control Computer Science::Robotics Sylvester's law of inertia symbols.namesake Control theory symbols business
Zdroj:	IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society.
DOI:	10.1109/iecon.2007.4459963
Popis:	A mobile robot is suitable for a variety of applications in unstructured environments where a high degree of autonomy is required. It is one of typical systems with nonholonomic constraints, and many researchers have devoted their efforts on its tracking control. In this paper, an adaptive controller is proposed for tracking control of a nonholonomic mobile robot with consideration of unknown model parameters. This design does not need precise knowledge of the inertia matrix, Coriolis and centrifugal force. The close loop stability is proved by using the Lyapunov technique. The effectiveness of the proposed controller is demonstrated by experiments conducted on our mobile robot platform.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::af96d5d2c0f7aee01f8d089421612d99 https://doi.org/10.1109/iecon.2007.4459963 Zobrazit plný text záznamu