Regulation of a nonholonomic dynamic wheeled mobile robot with parametric modeling uncertainty using Lyapunov functions

Proceedings of the IEEE Conference on Decision and Control

Volumn 3, Issue , 2000, Pages 2995-3000

  Aguiar, António Pedro ^a   Atassi, Ahmad N ^b   Pascoal, António M ^a  

^a INSTITUTE FOR SYSTEMS AND ROBOTICS   (Portugal)

^b UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; ALGORITHMS; ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; FEEDBACK CONTROL; KINEMATICS; LYAPUNOV METHODS; STATE SPACE METHODS; UNCERTAIN SYSTEMS;

ADAPTIVE STATE FEEDBACK CONTROLLER; NON-SMOOTH COORDINATE TRANSFORMATION; NONHOLOMIC DYNAMIC WHEELED MOBILE ROBOT; TIME-INVARIANT CONTROL LAW;

MOBILE ROBOTS;

EID: 0034439290     PISSN: 01912216     EISSN: None     Source Type: Journal    
DOI: 10.1109/CDC.2000.914276     Document Type: Article

References (15)

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11. Extending exponential stabilizers for nonholonomic systems from kinematic controllers to dynamic controllers
12. Control of chained systems: Application to path following and time-varying point-stabilization of mobile robots