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
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;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.773997
