Title :
Adaptive robust stabilization of dynamic nonholonomic chained systems
Author :
Ge, S.S. ; Zhou, G.Y.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
In this paper, the stabilization problem is investigated for dynamic nonholonomic systems with unknown inertia parameters and disturbances. Firstly, the nonholonomic kinematic subsystem is transformed into a skew-symmetric form and the properties of the overall systems are discussed. Then, a robust adaptive controller is presented where adaptive control technique is used to compensate for the parametric uncertainties and sliding mode control is to suppress the bounded disturbances. The controller guarantees the outputs of the dynamic subsystem to track some bounded auxiliary signals which subsequently drive the kinematic subsystem to the origin. Simulation study on the control of a unicycle wheeled mobile robot shows the effectiveness of the proposed approach
Keywords :
adaptive control; compensation; kinematics; robust control; tracking; uncertain systems; variable structure systems; adaptive robust stabilization; bounded auxiliary signal tracking; bounded disturbance suppression; dynamic nonholonomic chained systems; kinematic subsystem; nonholonomic kinematic subsystem; parametric uncertainty compensation; robust adaptive controller; skew-symmetric form; sliding mode control; unicycle wheeled mobile robot control; unknown inertia disturbances; unknown inertia parameters; Adaptive control; Control systems; Kinematics; Mobile robots; Programmable control; Robust control; Robustness; Sliding mode control; Uncertainty; Velocity control;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912061
