Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach

Bong Seok Park; Sung Jin Yoo; Jin Bae Park; Yoon Ho Choi

doi:10.1109/ACC.2009.5159858

Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach

Bong Seok Park, Sung Jin Yoo, Jin Bae Park, Yoon Ho Choi

Department of Electrical and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

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	https://doi.org/10.1109/ACC.2009.5159858
Publication status	Published - 2009
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/Territory	United States
City	St. Louis, MO
Period	09/6/10 → 09/6/12

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2009.5159858

Cite this

@inproceedings{c246785fe426495889217436582c6430,

title = "Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach",

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.",

author = "Park, {Bong Seok} and Yoo, {Sung Jin} and Park, {Jin Bae} and Choi, {Yoon Ho}",

year = "2009",

doi = "10.1109/ACC.2009.5159858",

language = "English",

isbn = "9781424445240",

series = "Proceedings of the American Control Conference",

pages = "3860--3865",

booktitle = "2009 American Control Conference, ACC 2009",

note = "2009 American Control Conference, ACC 2009 ; Conference date: 10-06-2009 Through 12-06-2009",

}

Park, BS, Yoo, SJ, Park, JB & Choi, YH 2009, Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach. in 2009 American Control Conference, ACC 2009., 5159858, Proceedings of the American Control Conference, pp. 3860-3865, 2009 American Control Conference, ACC 2009, St. Louis, MO, United States, 09/6/10. https://doi.org/10.1109/ACC.2009.5159858

Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics : Dynamic surface design approach. / Park, Bong Seok; Yoo, Sung Jin; Park, Jin Bae et al.

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 - 2009 American Control Conference, ACC 2009

AU - Park, Bong Seok

AU - Yoo, Sung Jin

AU - Park, Jin Bae

AU - Choi, Yoon Ho

PY - 2009

Y1 - 2009

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

Y2 - 10 June 2009 through 12 June 2009

ER -

Adaptive tracking control of nonholonomic mobile robots considering actuator dynamics: Dynamic surface design approach

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this