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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Bong Seok Park Sung Jin Yoo Jin Bae Park Yoon Ho Choi |
| Copyright Year | 2009 |
| Description | Author affiliation: School of Electronic Engineering, Kyonggi University, Suwon-Si, Kyonggi-Do, Korea (Yoon Ho Choi) || Department of Electrical and Electronic Engineering, Yonsei University, Shinchon-Dong, Seodaemum-Gu, Seoul, Korea (Bong Seok Park; Sung Jin Yoo; Jin Bae Park) |
| 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 multi-output 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 closed-loop system are semi-globally uniformly ultimately bounded. Finally, we perform compute simulations to demonstrate the performance of the proposed controller. |
| Starting Page | 3860 |
| Ending Page | 3865 |
| File Size | 1115653 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424445233 |
| ISSN | 07431619 |
| DOI | 10.1109/ACC.2009.5159858 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-06-10 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Programmable control Adaptive control Mobile robots Actuators Control systems Vehicle dynamics Robot kinematics Uncertainty Backstepping Lyapunov method |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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