DocumentCode
2101837
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
fYear
2010
fDate
29-31 July 2010
Firstpage
524
Lastpage
528
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2010 29th Chinese
Conference_Location
Beijing
Print_ISBN
978-1-4244-6263-6
Type
conf
Filename
5573218
Link To Document