Title :
Switching adaptive control of mobile robots
Author :
Cruz, Celso De La ; Carelli, Ricardo ; Bastos, Teodiano Freire
Author_Institution :
Dept. of Electr. Eng., Univ. Fed. do Espirito Santo, Vitoria
fDate :
June 30 2008-July 2 2008
Abstract :
A novel tracking and positioning adaptive control for mobile robots is designed using Lyapunov theory. Then, a switching control that changes the parameter updating law is used to improve the adaptive control in the sense of reducing high accelerations of the robot and avoiding the parameter drifting. Experimental results show a good performance of the adaptive control and its improvement with the switching control.
Keywords :
Lyapunov methods; adaptive control; mobile robots; position control; Lyapunov theory; mobile robots; parameter updating law; positioning adaptive control; switching adaptive control; tracking; Acceleration; Adaptive control; Error correction; Feedback; Kinematics; Mobile robots; Programmable control; Robot control; Robot sensing systems; Velocity control;
Conference_Titel :
Industrial Electronics, 2008. ISIE 2008. IEEE International Symposium on
Conference_Location :
Cambridge
Print_ISBN :
978-1-4244-1665-3
Electronic_ISBN :
978-1-4244-1666-0
DOI :
10.1109/ISIE.2008.4677084
