An adaptive control scheme for nonholonomic mobile robot with parametric uncertainty

• Autorzy: Mnif F. , Touati F.
• Języki publikacji: EN

Abstrakty

EN

This paper addresses the problem of the adaptive stabilization of a nonholonomic mobile robot. A discontinuous adaptive state feedback controller is derived to achieve global stability and convergence of the trajectories of the closed loop system in the presence of parameter modeling uncertainty. This task is achieved by a non smooth transformation in the original system followed by the derivation of smooth time invariant control in the new coordinates. The stability and convergence analysis is built on Lyapunov stability theory.

Słowa kluczowe

EN

nonholonomic systems; adaptive control; car-like vehicle

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2004
• Tom: Vol. 14, no. 3/4
• Strony: 219--229
• Opis fizyczny: Bibliogr. 9 poz., rys.

Twórcy

autor

Mnif F.

• Institut National des Sciences Appliquees et de Technologie, Tunisia

autor

Touati F.

• Sultan Qaboos University, Oman

Bibliografia

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• [9] R.W. Brockett: Asymptotic stability and feedback stabilization. Progress in Math., 27, Birkhauser, (1993), 181-208.