Robust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties

被引：108

作者：

Dong, W ^{[1
]}

Kuhnert, KD ^{[1
]}

机构：

[1] Univ Siegen, Dept Elect & Comp Engn, D-57068 Siegen, Germany

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2005年 / 21卷 / 02期

关键词：

adaptive control; nonholonomic system; robust control; tracking control; wheeled mobile robot;

D O I：

10.1109/TRO.2004.837236

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper considers the tracking-control problem of a nonholonomic wheeled mobile robot with both parameter and nonparameter uncertainties. A robust adaptive controller is proposed with the aid of the adaptive backstepping technique and the learning ability of neural networks. The proposed controller guarantees that the tracking error converges to a small ball containing the origin. The ball's radius can be adjusted by control parameters. The proposed controller is successfully implemented in our simulator.

引用

页码：261 / 266

页数：6

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