TY - GEN
T1 - Dynamic tracking control of uncertain nonholonomic mobile robots
AU - Dong, Wenjie
AU - Guo, Yi
PY - 2005
Y1 - 2005
N2 - We consider the tracking control of a nonholonomic mobile robot with parameter uncertainty and unknown dynamics. A new robust adaptive controller is proposed with the aid of adaptive backstepping and robust control techniques. The proposed controller guarantees that the tracking error converges to a small ball containing the origin. The ball's radius can be adjusted by control parameters. Uncertainties in both of kinematics and dynamics of mobile robots are considered of the first time in the frame of robust and adaptive control in this paper. Simulation results show effectiveness of the proposed controller.
AB - We consider the tracking control of a nonholonomic mobile robot with parameter uncertainty and unknown dynamics. A new robust adaptive controller is proposed with the aid of adaptive backstepping and robust control techniques. The proposed controller guarantees that the tracking error converges to a small ball containing the origin. The ball's radius can be adjusted by control parameters. Uncertainties in both of kinematics and dynamics of mobile robots are considered of the first time in the frame of robust and adaptive control in this paper. Simulation results show effectiveness of the proposed controller.
UR - http://www.scopus.com/inward/record.url?scp=79958007925&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2005.1545225
DO - 10.1109/IROS.2005.1545225
M3 - Conference contribution
AN - SCOPUS:79958007925
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2774
EP - 2779
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ER -