Robust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties

Author

Wenjie Dong ; Kuhnert, Klaus-Dieter

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Siegen, Germany

Volume

21

Issue

2

fYear

2005

fDate

4/1/2005 12:00:00 AM

Firstpage

261

Lastpage

266

Abstract

This paper considers the tracking-control problem of a nonholonomic wheeled mobile robot with both parameter and nonparameter uncertainties. A robust adaptive controller is proposed with the aid of the adaptive backstepping technique and the learning ability of neural networks. The proposed controller guarantees that the tracking error converges to a small hall containing the origin. The hall´s radius can be adjusted by control parameters. The proposed controller is successfully implemented in our simulator.

Keywords

adaptive control; learning (artificial intelligence); mobile robots; position control; robust control; adaptive backstepping technique; neural network learning ability; nonholonomic wheeled mobile robot; nonparameter uncertainty; parameter uncertainty; robust adaptive control; tracking-control problem; Adaptive control; Backstepping; Control systems; Kinematics; Mobile robots; Neural networks; Programmable control; Robust control; Uncertainty; Wheels; Adaptive control; nonholonomic system; robust control; tracking control; wheeled mobile robot;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2004.837236

Filename

1416978