Title :
Adaptive control for a mobile robot under slip conditions using an LMI-based approach
Author :
Gonzalez, R. ; Fiacchini, M. ; Alamo, T. ; Guzman, J.L. ; Rodriguez, F.
Author_Institution :
Dipt. Lenguajes y Comput., Univ. of Almeria, Almeria, Spain
Abstract :
This paper presents the synthesis of a control law which guarantees asymptotic stability for a wheeled mobile robot under slip conditions subject to both constraints and system dynamics. This control law is obtained using Linear Matrix Inequalities. The improvements provided by the pro- posed adaptive control are compared with other control laws, dealing with slip effect, through simulation.
Keywords :
adaptive control; asymptotic stability; control system synthesis; linear matrix inequalities; mobile robots; robot dynamics; robot kinematics; LMI-based Approach; adaptive control; asymptotic stability; control law synthesis; linear matrix inequalities; slip conditions; system constraints; system dynamics; wheeled mobile robot; Adaptive control; Equations; Lyapunov methods; Mobile robots; Trajectory; Wheels;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
