Title :
Adaptive stabilization of dynamic nonholonomic chained systems with uncertainty
Author :
Dong, Wenjie ; Huo, Wei
Author_Institution :
Seventh Res. Div., Beijing Univ., China
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;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657137
