Title :
Robust control of full state tracking of a wheeled mobile robot
Author :
Xu, Guangyan ; Wang, Danwei ; Zhou, Keliang
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
Abstract :
Proposes a robust trajectory tracking control scheme for a nonholonomic wheeled mobile robot. This control scheme achieves full state tracking in the sense of uniform ultimate boundedness. It is robust against uncertain inertia parameters, unknown disturbances and initial errors
Keywords :
mobile robots; position control; robot dynamics; robust control; full state tracking; initial errors; nonholonomic wheeled mobile robot; robust trajectory tracking control; uncertain inertia parameters; uniform ultimate boundedness; unknown disturbances; Aerodynamics; Control systems; Error correction; Feedback; Friction; Mobile robots; Robust control; Robust stability; Uncertainty; Wheels;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.914279
