DocumentCode
2034286
Title
High gain adaptive control of nonholonomic systems with uncertain control coefficients
Author
Michino, Ryuji ; Sakamoto, Yoshihiko ; Mizumoto, Ikuro
Author_Institution
Kumamoto Ind. Res. Inst., Kumamoto, Japan
fYear
2011
fDate
13-18 Sept. 2011
Firstpage
1721
Lastpage
1726
Abstract
In this paper, a high gain adaptive control is investigated for nonholonomic systems with uncertain control coefficient. The designed adaptive controller is rather simple, since it has only one adaptive adjusting term. The application of this controller to a nonholonomic wheeled mobile robot is considered as an illustrative example.
Keywords
adaptive control; control system synthesis; mobile robots; uncertain systems; wheels; adaptive controller design; nonholonomic system; nonholonomic wheeled mobile robot; uncertain control coefficient; Adaptive control; Control systems; Mobile robots; Vehicle dynamics; Wheels; Adaptive control; High gain feedback; Nonholonomic systems;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location
Tokyo
ISSN
pending
Print_ISBN
978-1-4577-0714-8
Type
conf
Filename
6060244
Link To Document