Title

Dynamic Tracking Control Of Uncertain Nonholonomic Mobile Robots

Abstract

We consider the tracking control of a nonholonomic mobile robot with parameter uncertainty and unknown dynamics. A new robust adaptive controller is proposed with the aid of adaptive backstepping and robust control techniques. The proposed controller guarantees that the tracking error converges to a small ball containing the origin. The ball's radius can be adjusted by control parameters. Uncertainties in both of kinematics and dynamics of mobile robots are considered of the first time in the frame of robust and adaptive control in this paper. Simulation results show effectiveness of the proposed controller. © 2005 IEEE.

Publication Date

1-1-2005

Publication Title

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Number of Pages

2774-2779

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/IROS.2005.1545225

Socpus ID

79958007925 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/79958007925

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