Robust adaptive control of a wheeled mobile robot violating the pure nonholonomic constraint

2004 8th International Conference on Control, Automation, Robotics and Vision (ICARCV)

Volumn 2, Issue , 2004, Pages 987-992

  Wang, Z P ^a   Su, C Y ^b   Lee, T H ^a   Ge, S S ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

^b Gina Cody School of Engineering and Computer Science   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE CONTROLLERS; KINEMATIC CONTROL; SYSTEM DYNAMICS; WHEELED MOBILE ROBOT;

ADAPTIVE CONTROL SYSTEMS; COMPUTER SIMULATION; CONSTRAINT THEORY; CONTROL EQUIPMENT; CONTROL THEORY; KINEMATICS; PROBLEM SOLVING; TRACKING (POSITION);

MOBILE ROBOTS;

EID: 21244457270     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. R. W. Brockett, "Asymptotic stability and feedback stabilization," in Differential Geometry Control Theory, (Basel: Birkhauser), pp. 181-208, 1983.
2. C. Samson, "Time-varying feedback stabilization of a nonholonomic wheeled mobile robot," International Journal of Robotics Research, vol. 12, pp. 55-66, 1993.
3. A. Astolfi, "On the stabilization of nonholonomic systems," in Proc. 33rd IEEE Conference on Decision & Control, (Lake Buena, FL, USA), pp. 3481-3486, Dec. 1994.
4. O. J. Sordalen and C. Canudas de Wit, "Exponential stabilization of nonholonomic chained systems," IEEE Trans. Automatic Control, vol. 40, no. 1, pp. 35-49, 1995.
5. S. S. Ge, J. Wang, T. H. Lee, and G. Y. Zhou, "Adaptive robust stabilization of dynamic non-holonomic chained systems," Journal of Robotic Systems, vol. 18, no. 3, pp. 119-133, 2001.
6. S. S. Ge, Z. P. Wang, and T. H. Lee, "Adaptive stabilization of uncertain nonholonomic systems by state and output feedback," Automatica, vol. 39, no. 8, pp. 1451-1460, 2003.
7. W. Huo and S. S. Ge, "Exponential stabilization of nonholonomic systems: an eni approach," International Journal of Control, vol. 74, no. 15, pp. 1492-1500, 2001.
8. Y. Kanayama, Y. Limura, F. Miyazaki, and T. Noguchi, "A stable tracking control method for an autonomous mobile robot," in IEEE Proceedings of Robotics & Automation, (Cincinnati, OH, USA), pp. 384-389, May 1990.
9. W. Oelen, W. Berghuis, H. Nijmeijer, and C. de Wit, "Implementation of a hybrid stabilizing controller on a mobile robot with two degrees of freedom," in IEEE Proceedings of Robotics & Automation, (San Diego, CA, USA), pp. 1196-1201, May 1994.
10. C. Samson, "Velocity and torque feedback control of a nonholonomic cart," Advanced Robot Control, pp. 125-151, 1991.
11. W. Dong and W. L. Xu, "Adaptive tracking control of uncertain nonholonomic dynamic system," IEEE Trans. Automatica Control, vol. 46, no. 3, pp. 450-454, 2001.
12. M. Oya, C. Y. Su, and R. Katoh, "Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical system," IEEE Trans. Robotics & Automation, vol. 19, no. 1, pp. 175-181, 2003.
13. I. Kolmanovsky and N. H. McClamroch, "Development in nonholonomic control problems," IEEE Control System Magazine, vol. 15, no. 6, pp. 20-36, 1995.
14. J.-J. E. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, N.J.: Prentice Hall, 1991.
15. G. Campion, B. d'Andrea Novel, and G. Bastin, "Controllability and state feedback stability of nonholonomic mechanical systems," Advanced Robot Control, pp. 106-124, 1991.