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 -