Title

A Near Optimal Tracking Control Of Dynamic Nonholonomic Systems

Abstract

In this paper, the tracking problem of dynamic nonholonomic systems is investigated. By separately considering kinematic and dynamic models of a nonholonomic system, a new real-time near-optimal control is proposed based on the backstepping design. Besides being implementable online, the proposed control has the property that its closeness to the optimal control obtained off-line and numerically can be measured and monitored. To show its effectiveness, the proposed control is simulated for a unicycle wheeled mobile robot.

Publication Date

1-1-2003

Publication Title

Proceedings - 2003 IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003

Volume

2003-October

Number of Pages

202-207

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/RISSP.2003.1285574

Socpus ID

84990913762 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84990913762

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