Robust adaptive control of nonholonomic wheeled mobile robot

Author

Shim, Hyun-Sik ; Kim, Jong-Hwan

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea

fYear

1994

fDate

5-9 Dec 1994

Firstpage

245

Lastpage

249

Abstract

This paper proposes a robust adaptive control algorithm for nonholonomic mobile robot locomotion based upon the Lyapunov direct method. In this scheme, if the velocity error is greater than the prespecified error bound, the feedback gains are adjusted adaptively such that the predetermined trading error precision is achieved under disturbances. If there exist no disturbances, the proposed algorithm guarantees global convergence of overall system and zero tracking velocity error. And also, to improve the position trading performance, a position error feedback term is added to the control law. Computer simulations demonstrate the effectiveness of the scheme

Keywords

Lyapunov methods; adaptive control; convergence; feedback; mobile robots; position control; robust control; Lyapunov direct method; feedback gains; global convergence; nonholonomic wheeled mobile robot; position error; prespecified error bound; robust adaptive control; velocity error; Adaptive control; Computer errors; Computer simulation; Error correction; Feedback; Mobile robots; Robot control; Robot kinematics; Robust control; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 1994., Proceedings of the IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

0-7803-1978-8

Type

conf

DOI

10.1109/ICIT.1994.467120

Filename

467120