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.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=3129963
بازگشت