• DocumentCode
    1744228
  • Title

    Robust control of full state tracking of a wheeled mobile robot

  • Author

    Xu, Guangyan ; Wang, Danwei ; Zhou, Keliang

  • Author_Institution
    Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
  • Volume
    3
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    3007
  • Abstract
    Proposes a robust trajectory tracking control scheme for a nonholonomic wheeled mobile robot. This control scheme achieves full state tracking in the sense of uniform ultimate boundedness. It is robust against uncertain inertia parameters, unknown disturbances and initial errors
  • Keywords
    mobile robots; position control; robot dynamics; robust control; full state tracking; initial errors; nonholonomic wheeled mobile robot; robust trajectory tracking control; uncertain inertia parameters; uniform ultimate boundedness; unknown disturbances; Aerodynamics; Control systems; Error correction; Feedback; Friction; Mobile robots; Robust control; Robust stability; Uncertainty; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
  • Conference_Location
    Sydney, NSW
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-6638-7
  • Type

    conf

  • DOI
    10.1109/CDC.2000.914279
  • Filename
    914279
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1744228