Simultaneous tracking and stabilization of mobile robots: an adaptive approach

This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilization for mobile robots with unknown kinematic and dynamic parameters. The controller synthesis is based on Lyapunov's direct method and backstepping technique....

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Bibliographic Details
Published in:IEEE transactions on automatic control 2004-07, Vol.49 (7), p.1147-1151
Main Authors: Do, K.D., Jiang, Z.P., Pan, J.
Format: Article
Language:English
Subjects:
Adaptive control
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Equations
Exact sciences and technology
Frequency estimation
Kernel
Mobile robots
Programmable control
Rivers
Stochastic systems
System identification
Transfer functions
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Summary:This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilization for mobile robots with unknown kinematic and dynamic parameters. The controller synthesis is based on Lyapunov's direct method and backstepping technique. Simulations illustrate the effectiveness of the proposed controller.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2004.831139