Title :
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
fDate :
6/21/1905 12:00:00 AM
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;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827870
