• DocumentCode
    695963
  • 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
  • fYear
    2009
  • fDate
    23-26 Aug. 2009
  • Firstpage
    1251
  • Lastpage
    1256
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 2009 European
  • Conference_Location
    Budapest
  • Print_ISBN
    978-3-9524173-9-3
  • Type

    conf

  • Filename
    7074577
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=695963