Title :
Robust damping control of wheeled mobile robots
Author :
Lin, Sheng ; Goldenberg, A.
Author_Institution :
Robotics & Autom. Lab., Toronto Univ., Ont., Canada
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846471
