Title :
Robust tracking control for a wheeled mobile robot
Author :
Tayebi, Abdelhamid ; Rachid, Ahmed
Author_Institution :
Lab. des Syst. Autom., Univ. de Picardie-Jules Verne, Amiens, France
Abstract :
This paper deals with the tracking problem for a wheeled mobile robot and considers the measurement uncertainties. A new robust control law is performed via Lyapunov method to ensure a good path following under bounded measurement perturbation
Keywords :
mobile robots; Lyapunov method; asymptotic stability; kinematic error model; measurement uncertainties; nonlinear control; path following; robust control; tracking; wheeled mobile robot; Control systems; Equations; Error correction; Mobile computing; Mobile robots; Robust control; Rotation measurement; State estimation; Time varying systems; Velocity measurement;
Conference_Titel :
Electrotechnical Conference, 1996. MELECON '96., 8th Mediterranean
Conference_Location :
Bari
Print_ISBN :
0-7803-3109-5
DOI :
10.1109/MELCON.1996.550989
