Title :
Simultaneous tracking and stabilization of mobile robots: an adaptive approach
Author :
Do, K.D. ; Jiang, Z.-P. ; Pan, J.
Author_Institution :
Sch. of Mech. Eng., Univ. of Western Australia, Perth, WA, Australia
fDate :
7/1/2004 12:00:00 AM
Abstract :
This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilization for mobile robots with unknown kinematic and dynamic parameters. The controller synthesis is based on Lyapunov´s direct method and backstepping technique. Simulations illustrate the effectiveness of the proposed controller.
Keywords :
Lyapunov methods; adaptive control; control system synthesis; mobile robots; stability; time-varying systems; torque control; tracking; Lyapunov method; controller synthesis; dynamic parameters; kinematic parameters; mobile robots stability; time-varying global adaptive controller; torque; tracking control; Adaptive control; Equations; Frequency estimation; Kernel; Mobile robots; Programmable control; Rivers; Stochastic systems; System identification; Transfer functions; Global adaptive control; Lyapunov design; mobile robot; stabilization; tracking;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2004.831139
