DocumentCode
2912340
Title
Tracking control of wheeled mobile robots with unknown dynamics
Author
Dong, Wenjie ; Huo, Wei
Author_Institution
Seventh Res. Div., Beijing Univ. of Aeronaut. & Astronaut., China
Volume
4
fYear
1999
fDate
1999
Firstpage
2645
Abstract
This paper considers the tracking problem of nonholonomic wheeled mobile robots with unknown dynamics. A new adaptive robust global dynamic controller is presented based on the canonical form of the wheeled mobile robots. This novel controller has low dimension and no singular points. Simulations show the effectiveness of the control scheme
Keywords
adaptive control; mobile robots; robust control; tracking; uncertain systems; adaptive robust global dynamic controller; canonical form; low-dimensional controller; nonholonomic wheeled mobile robots; tracking control; unknown dynamics; Aerodynamics; Backstepping; Equations; Kinematics; Mobile robots; Robustness; Tracking loops; Trajectory; Uncertainty; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.773997
Filename
773997
Link To Document