Title :
Point stabilization for autonomous lawnmower using backstepping adaptive control
Author :
Hsu, Ping-Min ; Lin, Chun-Liang ; Chen, Ching-Kun ; Huang, Ching-Huei
Author_Institution :
Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan
Abstract :
This paper studied the point stabilization problem for a constrained autonomous lawnmower. A constrained kinetic model is established first. The authors proposed a backstepping adaptive controller to solve the stabilizing control design problem. The proposed approach has been numerically verified.
Keywords :
adaptive control; control system synthesis; lawnmowers; mobile robots; stability; backstepping adaptive control; constrained autonomous lawnmower; constrained kinetic model; point stabilization problem; stabilizing control design problem; Adaptive control; Backstepping; Control design; Kinetic theory; Path planning; Programmable control; Remotely operated vehicles; Robots; Trajectory; Wheels; Backstepping control; constraints; kinetic model; wheeled vehicle;
Conference_Titel :
Industrial Technology (ICIT), 2010 IEEE International Conference on
Conference_Location :
Vi a del Mar
Print_ISBN :
978-1-4244-5695-6
Electronic_ISBN :
978-1-4244-5696-3
DOI :
10.1109/ICIT.2010.5472737
