• DocumentCode
    3129963
  • Title

    A new universal adaptive tracking control law for nonholonomic wheeled mobile robots moving in R3 space

  • Author

    Mazur, Alicja

  • Author_Institution
    Inst. of Eng. Cybern., Wroclaw Univ., Poland
  • fYear
    1999
  • fDate
    1999
  • Firstpage
    113
  • Lastpage
    121
  • Abstract
    In this paper a new universal adaptive tracking control algorithm for nonholonomic wheeled mobile robots moving in R3 space is presented. A dynamical control law requiring a knowledge of the robot dynamics along a desired trajectory is introduced. The proof of the exponential stability of a controllable sub-system together with the internal stability of an uncontrollable variables is completed with simulation study
  • Keywords
    adaptive control; asymptotic stability; mobile robots; robot dynamics; tracking; dynamics; exponential stability; internal stability; mobile robots; nonholonomic wheeled robots; tracking control; universal adaptive control; Adaptive control; Manipulator dynamics; Mechanical systems; Mobile robots; Orbital robotics; Programmable control; Space technology; Stability; Symmetric matrices; Trajectory;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
  • Conference_Location
    Kiekrz
  • Print_ISBN
    0-7803-5655-1
  • Type

    conf

  • DOI
    10.1109/ROMOCO.1999.791062
  • Filename
    791062
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3129963