Simultaneous tracking and stabilization of mobile robots: An adaptive approach

被引：141
作者：
Do, KD [1 ]
Jiang, ZP
Pan, J
机构：
[1] Univ Western Australia, Sch Mech Engn, Perth, WA 6907, Australia
[2] Polytech Univ, Dept Elect & Comp Engn, Brooklyn, NY 11201 USA
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2004年 / 49卷 / 07期
关键词：
global adaptive control; Lyapunov design; mobile robot; stabilization; tracking;
D O I：
10.1109/TAC.2004.831139
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1147 / 1152
页数：6
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