Adaptive exponential stabilization of mobile robots with uncertainties

Author

Wu, Weiguo ; Chen, Huitang ; Wang, Yuejuan ; Woo, Pengyung

Author_Institution

Dept. of Electr. Eng., Tongji Univ., Shanghai, China

Volume

4

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

3484

Abstract

This paper concentrates on the discussions on stabilization of mobile robots with unknown constant-input disturbances. Continuous time-varying adaptive controllers are designed for mobile robots in a chain-form by using Lyapunov approach. With the property of homogeneous systems, uncertain mobile robots governed by the proposed control algorithms become homogeneous of order zero to achieve exponential stability. Simulation results validate the theoretical analysis

Keywords

Lyapunov methods; adaptive control; asymptotic stability; control system synthesis; mobile robots; time-varying systems; uncertain systems; Lyapunov approach; adaptive exponential stabilization; continuous time-varying adaptive controllers; homogeneous systems; mobile robots; uncertain mobile robots; uncertainties; unknown constant-input disturbances; Adaptive control; Algorithm design and analysis; Control systems; Convergence; Mobile robots; Partial response channels; Programmable control; Stability; Time varying systems; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.827870

Filename

827870