Adaptive robust stabilization of dynamic nonholonomic chained systems

Author

Ge, S.S. ; Zhou, G.Y.

Author_Institution

Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore

Volume

2

fYear

2000

fDate

2000

Firstpage

1445

Abstract

In this paper, the stabilization problem is investigated for dynamic nonholonomic systems with unknown inertia parameters and disturbances. Firstly, the nonholonomic kinematic subsystem is transformed into a skew-symmetric form and the properties of the overall systems are discussed. Then, a robust adaptive controller is presented where adaptive control technique is used to compensate for the parametric uncertainties and sliding mode control is to suppress the bounded disturbances. The controller guarantees the outputs of the dynamic subsystem to track some bounded auxiliary signals which subsequently drive the kinematic subsystem to the origin. Simulation study on the control of a unicycle wheeled mobile robot shows the effectiveness of the proposed approach

Keywords

adaptive control; compensation; kinematics; robust control; tracking; uncertain systems; variable structure systems; adaptive robust stabilization; bounded auxiliary signal tracking; bounded disturbance suppression; dynamic nonholonomic chained systems; kinematic subsystem; nonholonomic kinematic subsystem; parametric uncertainty compensation; robust adaptive controller; skew-symmetric form; sliding mode control; unicycle wheeled mobile robot control; unknown inertia disturbances; unknown inertia parameters; Adaptive control; Control systems; Kinematics; Mobile robots; Programmable control; Robust control; Robustness; Sliding mode control; Uncertainty; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2000.912061

Filename

912061