DocumentCode
2059887
Title
Robust damping control of wheeled mobile robots
Author
Lin, Sheng ; Goldenberg, A.
Author_Institution
Robotics & Autom. Lab., Toronto Univ., Ont., Canada
Volume
3
fYear
2000
fDate
2000
Firstpage
2919
Abstract
In this paper, a novel robust damping control scheme is proposed for the tracking control of wheeled mobile robots in the presence of unknown dynamics and bounded disturbances. The knowledge of the bounds of uncertainties is not required. Global uniform boundedness of all tracking errors is guaranteed. The controller has a fairly simple structure and can be easily implemented. Simulation results illustrate the effectiveness of the proposed theory
Keywords
damping; mobile robots; robot dynamics; robust control; tracking; vibration control; bounded disturbances; damping; dynamics; robust control; tracking; wheeled mobile robots; Automatic control; Damping; Kinematics; Mobile robots; Neural networks; Robot control; Robust control; Stability; Uncertainty; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846471
Filename
846471
Link To Document