Title :
Experimental Verification for Adaptive Tracking Control of a Nonholonomic Mobile Robot
Author :
Yu, Hung-Hsiu ; Huang, Hsuan-Kuan
Abstract :
A mobile robot is suitable for a variety of applications in unstructured environments where a high degree of autonomy is required. It is one of typical systems with nonholonomic constraints, and many researchers have devoted their efforts on its tracking control. In this paper, an adaptive controller is proposed for tracking control of a nonholonomic mobile robot with consideration of unknown model parameters. This design does not need precise knowledge of the inertia matrix, Coriolis and centrifugal force. The close loop stability is proved by using the Lyapunov technique. The effectiveness of the proposed controller is demonstrated by experiments conducted on our mobile robot platform.
Keywords :
Coriolis force; Lyapunov methods; adaptive control; closed loop systems; matrix algebra; mobile robots; stability; Coriolis-centrifugal force; Lyapunov technique; adaptive tracking control; close loop stability; inertia matrix; model parameters; nonholonomic constraints; nonholonomic mobile robot; unstructured environments; Adaptive control; Control systems; Kinematics; Mobile robots; Programmable control; Robot control; Robust control; Vehicle dynamics; Vehicles; Velocity control;
Conference_Titel :
Industrial Electronics Society, 2007. IECON 2007. 33rd Annual Conference of the IEEE
Conference_Location :
Taipei
Print_ISBN :
1-4244-0783-4
DOI :
10.1109/IECON.2007.4459963