DocumentCode
321207
Title
Adaptive stabilization of dynamic nonholonomic chained systems with uncertainty
Author
Dong, Wenjie ; Huo, Wei
Author_Institution
Seventh Res. Div., Beijing Univ., China
Volume
3
fYear
1997
fDate
10-12 Dec 1997
Firstpage
2362
Abstract
This paper studies the stabilization problem of the dynamic nonholonomic chained systems with unknown constant inertia parameters. A new time-varying adaptive feedback law is proposed and applied to a mobile robot control. Simulation results show that the approach is effective
Keywords
adaptive control; feedback; mobile robots; robot dynamics; stability; time-varying systems; uncertain systems; adaptive stabilization; dynamic nonholonomic chained systems; mobile robot control; time-varying adaptive feedback law; uncertainty; unknown constant inertia parameters; Adaptive control; Aerodynamics; Control systems; Feedback control; Force control; Mechanical systems; Mobile robots; Programmable control; Torque control; Uncertainty;
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.1997.657137
Filename
657137
Link To Document