Title :
Adaptive set stabilization of wheeled mobile robot with uncertainties
Author :
Xie Wenjing ; Ma Baoli
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Behang Univ., Beijing, China
Abstract :
This paper investigates the position and curve stabilization problems of wheeled mobile robots with parameter uncertainties. Smooth state feedback control laws are derived by combining Lyapunov and back-stepping methods, guaranteeing asymptotic convergence of the robot to the given position or the desired geometric curve from an arbitrary initial state despite the uncertain parameters. Simulation results confirm the effectiveness of the proposed control laws.
Keywords :
Lyapunov methods; adaptive control; mobile robots; position control; stability; Lyapunov method; adaptive set stabilization; asymptotic convergence; backstepping methods; curve stabilization; geometric curve; parameter uncertainty; position stabilization; state feedback control laws; wheeled mobile robot; Control systems; Electronic mail; Mobile robots; Robustness; Time varying systems; Uncertain systems; Nonholonomic Control; Parameter Uncertainty; Set Stabilization; Wheeled Mobile robot;
Conference_Titel :
Control Conference (CCC), 2010 29th Chinese
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-6263-6
