Title :
Adaptive motion control of a nonholonomic vehicle
Author :
Gusev, S.V. ; Makarov, I.A. ; Paromtchik, I.E. ; Yakubovich, V.A. ; Laugier, C.
Author_Institution :
Dept. of Math. & Mech., St. Petersburg State Univ., Russia
Abstract :
The stabilization of the motion of a nonholonomic vehicle is considered. The control system developed has a two-level architecture. The lower control level operates within the kinematic model of the vehicle to stabilize its motion to a desired trajectory. The upper control level uses the dynamic model of the vehicle and stabilizes the feedback obtained on the lower control level. The operation of the control system is studied when unknown bounded disturbances affect the motion. The adaptive motion control is proposed to deal with uncertain dynamic parameters of the vehicle
Keywords :
adaptive control; dynamics; feedback; kinematics; motion control; road vehicles; robust control; adaptive control; dynamic model; feedback; kinematic model; motion control; nonholonomic vehicle; stabilization; Adaptive control; Automatic control; Control systems; Feedback; Kinematics; Motion control; Programmable control; Remotely operated vehicles; Vehicle dynamics; Velocity control;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680945
