Overcoming Uncertainties and Disturbances: An Adaptive Control Approach for Mobile Robots

Autor:	Atal Anil Kumar, Uzair Khaleeq uz Zaman, Kanwal Naveed
Rok vydání:	2021
Předmět:	Adaptive control Exponential stability Mathematical model Control theory Computer science Riccati equation Robot Mobile robot Parametric statistics
Zdroj:	CASE
DOI:	10.1109/case49439.2021.9551520
Popis:	An adaptive control technique is introduced in this paper in order to efficiently overcome the parametric uncertainties and external disturbances which might prove to be catastrophic in the tracking control task of Mobile Robots (MR). The adaptive control technique implied is independent of the underlying model of the robot thus making it easier to implement. Moreover, the asymptotic stability is guaranteed by making use of Lyapunov approach. The distinction of adaptive control is also established through simulations by comparing it with a state dependent Riccati equation (SDRE) based robust controller.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::cdb17cedd2f65a0488e25717354def63 https://doi.org/10.1109/case49439.2021.9551520 Zobrazit plný text záznamu