Title :
High gain adaptive control of uncertain nonholonomic dynamic systems
Author :
Michino, Ryuji ; Mizumoto, Ikuro
Author_Institution :
Kumamoto Ind. Res. Inst., Kumamoto, Japan
Abstract :
In this paper, a high gain adaptive control is investigated for nonholonomic systems with unknown system parameters and unbounded dynamic uncertainties and/or disturbances. The designed adaptive controller is rather simple and has high robustness for bounded unknown uncertainties and disturbances, since it is designed based on high gain feedback and 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; feedback; mobile robots; nonlinear dynamical systems; uncertain systems; adaptive adjusting term; bounded unknown disturbances; bounded unknown uncertainties; high gain adaptive control; high gain feedback; nonholonomic wheeled mobile robot; unbounded dynamic uncertainties; uncertain nonholonomic dynamic systems; unknown system parameters; Mobile communication; Zinc;
Conference_Titel :
Modelling, Identification and Control (ICMIC), The 2010 International Conference on
Conference_Location :
Okayama
Print_ISBN :
978-1-4244-8381-5
Electronic_ISBN :
978-0-9555293-3-7
