Title :
High gain adaptive control of nonholonomic systems with uncertain control coefficients
Author :
Michino, Ryuji ; Sakamoto, Yoshihiko ; 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 uncertain control coefficient. The designed adaptive controller is rather simple, since it 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; mobile robots; uncertain systems; wheels; adaptive controller design; nonholonomic system; nonholonomic wheeled mobile robot; uncertain control coefficient; Adaptive control; Control systems; Mobile robots; Vehicle dynamics; Wheels; Adaptive control; High gain feedback; Nonholonomic systems;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
