DocumentCode
2271786
Title
Backstepping-based discontinuous adaptive control design for the stabilization of nonholonomic mobile robots with matched uncertainties
Author
Tayebi, A. ; Rachid, A.
Author_Institution
Lab. des Syst. Autom., Univ. de Picardie-Jules Verne, France
Volume
4
fYear
1997
fDate
10-12 Dec 1997
Firstpage
3664
Abstract
This paper presents a backstepping procedure for the design of discontinuous, time-invariant, state feedback controllers for the stabilization of nonholonomic systems in chained form. Based on this approach, an exponentially stabilizing controller is derived for a unicycle-like mobile robot in the disturbance-free case. Furthermore, an exponentially stabilizing adaptive controller is proposed when the mobile robot is subjected to inputs disturbances
Keywords
Lyapunov methods; adaptive control; closed loop systems; control system synthesis; mobile robots; robot kinematics; robust control; state feedback; Lyapunov function; backstepping; discontinuous adaptive control; kinematic model; mobile robots; nonholonomic systems; stabilization; state feedback; unicycle-like vehicle; Adaptive control; Automatic control; Backstepping; Control systems; Mobile robots; Programmable control; Stability; State feedback; Uncertainty; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.652425
Filename
652425
Link To Document