Title :
Adaptive control of electrically driven nonholonomic mechanical systems
Author :
Colbaugh, R. ; Glass, K. ; Barany, E.
Author_Institution :
Dynamics & Control Lab., New Mexico State Univ., Las Cruces, NM, USA
Abstract :
This paper considers the motion control problem for uncertain nonholonomic mechanical systems with electric actuators, and presents two adaptive controllers as solutions to this problem. Each of the control strategies is computationally efficient, requires very little information concerning either the mechanical system or actuator models, and ensures uniform boundedness of all signals and accurate motion control. The efficacy of the proposed approach is illustrated through computer simulations with two nonholonomic mobile robots
Keywords :
adaptive control; computational complexity; electric actuators; robots; uncertain systems; adaptive control; computationally efficient control strategies; electric actuators; electrically driven nonholonomic mechanical systems; motion control problem; nonholonomic mobile robots; uncertain nonholonomic mechanical systems; uniform boundedness; Actuators; Adaptive control; Control system synthesis; Control systems; Force control; Kinematics; Mechanical systems; Mobile robots; Motion control; Velocity control;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.760830