DocumentCode
2029851
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
Volume
4
fYear
1998
fDate
16-20 May 1998
Firstpage
3285
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680945
Filename
680945
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