Simultaneous tracking and stabilization of mobile robots: an adaptive approach
This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilization for mobile robots with unknown kinematic and dynamic parameters. The controller synthesis is based on Lyapunov's direct method and backstepping technique....
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| Veröffentlicht in: | IEEE transactions on automatic control 2004-07, Vol.49 (7), p.1147-1151 |
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| container_end_page | 1151 |
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| container_title | IEEE transactions on automatic control |
| container_volume | 49 |
| creator | Do, K.D. Jiang, Z.P. Pan, J. |
| description | This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilization for mobile robots with unknown kinematic and dynamic parameters. The controller synthesis is based on Lyapunov's direct method and backstepping technique. Simulations illustrate the effectiveness of the proposed controller. |
| doi_str_mv | 10.1109/TAC.2004.831139 |
| format | Article |
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The controller synthesis is based on Lyapunov's direct method and backstepping technique. Simulations illustrate the effectiveness of the proposed controller.</description><subject>Adaptive control</subject><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Equations</subject><subject>Exact sciences and technology</subject><subject>Frequency estimation</subject><subject>Kernel</subject><subject>Mobile robots</subject><subject>Programmable control</subject><subject>Rivers</subject><subject>Stochastic systems</subject><subject>System identification</subject><subject>Transfer functions</subject><issn>0018-9286</issn><issn>1558-2523</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2004</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNqFkU1rGzEQhkVpoK6Tcw65LIXmtrZGH7tSb8akScC0hzhnMavVpkrXK1daB9JfX5k1BHLpaZiZZ2Z45yXkEugCgOrldrVeMErFQnEArj-QGUipSiYZ_0hmlIIqNVPVJ_I5peecVkLAjPx48LtDP-LgwiEVY0T72w9PBQ5tkUZsfO__4ujDUISu2IWcuyKGJozpW2YKbHE_-hdX4H4fA9pf5-Sswz65i1Ock8fvN9v1Xbn5eXu_Xm1Ky2s1lqppVdNYjZbxSgNFBYyKBionNDhuaQeuZq7OlQpFi8B0jZ1jWmJNW93wObme9uazfw4ujWbnk3V9PwkxTNP8BZD_B5XUNacig1_egc_hEIcswijFhai1rjK0nCAbQ0rRdWYf_Q7jqwFqji6Y7II5umAmF_LE19NaTBb7LuJgfXobk1pSLiFzVxPnnXNvbQ5U1JT_Axsaj2M</recordid><startdate>20040701</startdate><enddate>20040701</enddate><creator>Do, K.D.</creator><creator>Jiang, Z.P.</creator><creator>Pan, J.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| identifier | ISSN: 0018-9286 |
| ispartof | IEEE transactions on automatic control, 2004-07, Vol.49 (7), p.1147-1151 |
| issn | 0018-9286 1558-2523 |
| language | eng |
| recordid | cdi_crossref_primary_10_1109_TAC_2004_831139 |
| source | IEEE Electronic Library (IEL) |
| subjects | Adaptive control Applied sciences Computer science control theory systems Control theory. Systems Equations Exact sciences and technology Frequency estimation Kernel Mobile robots Programmable control Rivers Stochastic systems System identification Transfer functions |
| title | Simultaneous tracking and stabilization of mobile robots: an adaptive approach |
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