Abstract
In this paper, we propose an adaptive tracking control of nonholonomic mobile robots considering actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to multi-input multioutput systems (i.e., mobile robots) that the number of inputs and outputs is different. From the Lyapunov stability theory, we derive adaptation laws and prove that all signals of a closedloop system are semi-globally uniformly ultimately bounded. Finally, we perform compute simulations to demonstrate the performance of the proposed controller.
| Original language | English |
|---|---|
| Title of host publication | 2009 American Control Conference, ACC 2009 |
| Pages | 3860-3865 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2009 Nov 23 |
| Event | 2009 American Control Conference, ACC 2009 - St. Louis, MO, United States Duration: 2009 Jun 10 → 2009 Jun 12 |
Publication series
| Name | Proceedings of the American Control Conference |
|---|---|
| ISSN (Print) | 0743-1619 |
Other
| Other | 2009 American Control Conference, ACC 2009 |
|---|---|
| Country | United States |
| City | St. Louis, MO |
| Period | 09/6/10 → 09/6/12 |
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All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering
Cite this
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Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics : Dynamic surface design approach. / Park, Bong Seok; Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho.
2009 American Control Conference, ACC 2009. 2009. p. 3860-3865 5159858 (Proceedings of the American Control Conference).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics
T2 - Dynamic surface design approach
AU - Park, Bong Seok
AU - Yoo, Sung Jin
AU - Park, Jin Bae
AU - Choi, Yoon Ho
PY - 2009/11/23
Y1 - 2009/11/23
N2 - In this paper, we propose an adaptive tracking control of nonholonomic mobile robots considering actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to multi-input multioutput systems (i.e., mobile robots) that the number of inputs and outputs is different. From the Lyapunov stability theory, we derive adaptation laws and prove that all signals of a closedloop system are semi-globally uniformly ultimately bounded. Finally, we perform compute simulations to demonstrate the performance of the proposed controller.
AB - In this paper, we propose an adaptive tracking control of nonholonomic mobile robots considering actuator dynamics. All parameters of robot kinematics, robot dynamics, and actuator dynamics are assumed to be uncertain. For the simple controller design, the dynamic surface control methodology is applied and extended to multi-input multioutput systems (i.e., mobile robots) that the number of inputs and outputs is different. From the Lyapunov stability theory, we derive adaptation laws and prove that all signals of a closedloop system are semi-globally uniformly ultimately bounded. Finally, we perform compute simulations to demonstrate the performance of the proposed controller.
UR - http://www.scopus.com/inward/record.url?scp=70449652398&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70449652398&partnerID=8YFLogxK
U2 - 10.1109/ACC.2009.5159858
DO - 10.1109/ACC.2009.5159858
M3 - Conference contribution
AN - SCOPUS:70449652398
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 3860
EP - 3865
BT - 2009 American Control Conference, ACC 2009
ER -